Online mapping with a mobile robot in dynamic and unknown environments
Hongming Wang; Zeng-Gaung Hou; Long Cheng; Min Tan
发表期刊International Journal of Modeling, Identification and Control
2008
卷号4期号:4页码:415-423
摘要In this paper, we address the problem of mapping dynamic and unknown environments. The static and moving objects are modelled as the components in a Gaussian mixture model (GMM). By recursive learning of GMM, the components corresponding to the static objects will have larger weights while the components corresponding to the moving objects will have smaller weights. At each time step, a number of components with the largest weights are adaptively selected as the background map and the new observations which do not match with the background map are classified as the foreground map. In addition, based on a Bayesian factorisation of simultaneous localisation and mapping (SLAM) problem, we present an online algorithm for SLAM with GMM learning. Our contributions are employing GMM learning approach to model the dynamic environment with detection of moving objects and jointing the GMM learning with SLAM in unknown environment. Consequently, an online approach for mapping with a mobile robot in dynamic and unknown environments is presented. Some simulation results indicate that our approach is feasible.
关键词simultaneous localisation-mapping  SLAM  dynamic environments  robot localisation  robot mapping  unknown environments  Gaussian mixture model  GMM  online mapping  mobile robots  modelling  recursive learning  simulation  robot navigation
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/23174
专题复杂系统管理与控制国家重点实验室_先进机器人
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Hongming Wang,Zeng-Gaung Hou,Long Cheng,et al. Online mapping with a mobile robot in dynamic and unknown environments[J]. International Journal of Modeling, Identification and Control,2008,4(4):415-423.
APA Hongming Wang,Zeng-Gaung Hou,Long Cheng,&Min Tan.(2008).Online mapping with a mobile robot in dynamic and unknown environments.International Journal of Modeling, Identification and Control,4(4),415-423.
MLA Hongming Wang,et al."Online mapping with a mobile robot in dynamic and unknown environments".International Journal of Modeling, Identification and Control 4.4(2008):415-423.
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