CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Online mapping with a mobile robot in dynamic and unknown environments
Hongming Wang; Zeng-Gaung Hou; Long Cheng; Min Tan
Source PublicationInternational Journal of Modeling, Identification and Control
2008
Volume4Issue:4Pages:415-423
AbstractIn 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.
Keywordsimultaneous 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
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23174
Collection复杂系统管理与控制国家重点实验室_先进机器人
Recommended Citation
GB/T 7714
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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