Experimental analysis of adaptive concurrent mapping and localization using sonar

TitleExperimental analysis of adaptive concurrent mapping and localization using sonar
Publication TypeBook Chapter
Year of Publication2000
AuthorsLeonard JJ, Feder HJS
EditorCorke P, Trevelyan J
Book TitleExperimental Robotics VI
Series TitleLecture Notes in Control and Information Sciences
Volume250
Pagination297-306
PublisherSpringer-Verlag
Abstract

This paper describes the experimental verification a method for performing concurrent mapping and localization (CML) adaptively using sonar. Predicted sensor readings and expected dead-reckoning errors are used to evaluate different potential actions of the robot. The action that yields the maximum information is selected. The performance of this approach to CML is investigated via experiments with a dynamic underwater sonar sensing system in a 9 meter by 3 meter by 1 meter testing tank. Increased navigation and mapping accuracy are demonstrated in comparison to results obtained with non-adaptive sensor motion.

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