Online mapping with a mobile robot in dynamic and unknown environments

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Online mapping with a mobile robot in dynamic and unknown environments
	Hongming Wang; Zeng-Gaung Hou; Long Cheng; Min Tan
刊名	International Journal of Modeling, Identification and Control
	2008
卷号	4 期号:4 页码:415-423
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
英文摘要	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.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/23174]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
推荐引用方式 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.