NDLI: Advanced sonar and odometry error modeling for simultaneous localisation and map building

Content Provider	IEEE Xplore Digital Library
Author	Kleeman, L.
Copyright Year	2003
Description	Author affiliation: Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia (Kleeman, L.)
Abstract	An advanced sonar sensor produces accurate range and bearing measurements, classifies targets and rejects interference with one sensing cycle. Two advanced sonar systems are used to simultaneously localise and map an indoor environment using a mobile robot. This paper presents the approach and results from on-the-fly map building using a Kalman filter and a new odometry error model that incorporates variations in effective wheel separation and angle measurements. This model is suited to pneumatic tyre odometry errors where the wheel separation has been found to vary unpredictably with floor surface and path curvature. The paper also presents techniques for detecting sonar feature clutter and selecting strong candidates for ultrasonic landmarks. The paper illustrates that sonar SLAM data association problems are significantly simplified when advanced sonar sensors are employed compared to Polaroid ranging modules.
Sponsorship	IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. New Technol. Found
Starting Page	699
Ending Page	704
File Size	442165
Page Count	6
File Format	PDF
ISBN	0780378601
DOI	10.1109/IROS.2003.1250711
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sonar measurements Wheels Sonar detection Interference Indoor environments Mobile robots Ultrasonic variables measurement Goniometers Tires Floors
Content Type	Text
Resource Type	Article

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