Name
Abstract | ||
|---|---|---|
This paper proposes a new algorithm named "SIGMA" to address the problem of simultaneous information and global motion analysis for a car working in unstructured outdoor environments. The Map of the environment is made by a Simultaneous Localization and Mapping (SLAM) algorithm that uses an Hybrid Metric Map (HYMM) structure for mapping. The path planning approach presents a global solution maximizing overall information gain of the map. The cost function used considers the present and future uncertainty in the map and vehicle and is based on the variation of the covariance matrix trace. Eigenvalue concepts are utilized to determine overall information change from the information matrix properties. An information graph is constructed followed by a search to find the optimal information-based rough path. Results are presented to demonstrate performance of the algorithm. I. I NTRODUCTION During the past few years there has been significant progress in navigation applied to outdoor robots. At the same time there is still a need of fundamental breakthroughs in autonomous systems to make them reliable in much less structured envi- |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/ROBOT.2004.1308107 | Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference |
Keywords | Field | DocType |
covariance matrices,eigenvalues and eigenfunctions,mobile robots,motion control,path planning,search problems,car like robots,cost function,covariance matrix,eigenvalue concepts,global motion analysis,hybrid metric map structure,information gain,information graph,information matrix properties,optimal information based rough path,path planning,simultaneous information analysis,simultaneous localization and mapping algorithm,unstructured outdoor environments | Motion planning,Motion control,Control theory,Metric map,Fisher information,Motion analysis,Covariance matrix,Simultaneous localization and mapping,Mathematics,Mobile robot | Conference |
Volume | ISSN | ISBN |
2 | 1050-4729 | 0-7803-8232-3 |
Citations | PageRank | References |
1 | 0.36 | 21 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shahram Rezaei | 1 | 62 | 6.39 |
| José E. Guivant | 2 | 751 | 103.39 |
| Juan I. Nieto | 3 | 939 | 88.52 |
| Eduardo Mario Nebot | 4 | 1255 | 224.24 |