|Title||Adaptive concurrent mapping and localization using sonar|
|Publication Type||Conference Paper|
|Year of Publication||1998|
|Authors||Feder HJS, Leonard JJ, Smith CM|
|Conference Name||IEEE/RSJ Intl Conf on Intelligent Robots and Systems (IROS)|
|Conference Location||Victoria, BC, Canada|
In order to create a truly autonomous vehicle, the task of concurrent mapping and localization (CML) in an a priori unknown environment is an important problem. Traditional ly, the task of CML has been separated from the vehicle's motion and sensing strategies. We introduce a method for adaptive concurrent mapping and localization in unknown environments using a scanning sonar sensor. This method maximizes the information gained by the next action of the robot, given the space of available actions. The viability of the approach is shown in simulation and experiments. Results are shown for both adaptive control of motion and adaptive control of motion and sensing. Improved performance is demonstrated in comparison to straight-line motion and random motion.