SLAM techniques application for mobile robot in rough terrain

著者

    • Kudriashov, Andrii
    • Buratowski, Tomasz
    • Giergiel, Mariusz
    • Małka, Piotr

書誌事項

SLAM techniques application for mobile robot in rough terrain

Andrii Kudriashov, Tomasz Buratowski, Mariusz Giergiel, Piotr Małka

（Mechanisms and machine science / series editor, Marco Ceccarelli, v. 87）

Springer, c2020

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注記

Includes bibliographical references

収録内容

  • Intro
  • Preface
  • Contents
  • 1 Introduction
  • 1.1 Motivation
  • 1.2 Book Statement
  • 1.3 Aim and Scope
  • References
  • 2 Introduction to Mobile Robots Navigation, Localization and Mapping
  • 2.1 Introduction
  • 2.2 Mathematical Description of Mobile Robots
  • 2.2.1 Holonomic and Non-holonomic Mobile Robots
  • 2.2.2 Kinematics
  • 2.2.3 Dynamics
  • 2.3 Terrain Mapping
  • 2.3.1 Topological Maps
  • 2.3.2 Metric Maps
  • 2.4 Mobile Robot's Navigation
  • 2.4.1 Path Planning
  • 2.4.2 Bug Algorithms
  • 2.4.3 Geometry-Based Roadmaps
  • 2.4.4 Sampling-Based Roadmaps
  • 2.4.5 Potential Field Path Planning
  • 2.5 Robots Localization
  • 2.5.1 Odometry
  • 2.5.2 Inertial Navigation
  • 2.5.3 Visual and Laser Odometry
  • 2.5.4 Active Beacon Localization
  • 2.6 Summary
  • References
  • 3 SLAM as Probabilistic Robotics Framework Approach
  • 3.1 Introduction
  • 3.2 Motion and Observation Models
  • 3.2.1 Motion Model
  • 3.2.2 Observation Model
  • 3.3 Localization Estimation
  • 3.3.1 Markov Localization
  • 3.3.2 Particle Filters
  • 3.3.3 Kalman Filters
  • 3.4 Map Estimation
  • 3.4.1 Occupancy Grid
  • 3.5 Simultaneous Localization and Mapping (SLAM)
  • 3.5.1 SLAM Problem Definition
  • 3.5.2 EKF-SLAM
  • 3.5.3 Particle Filter SLAM
  • 3.5.4 Graph-Based SLAM
  • 3.6 Summary
  • References
  • 4 Multi-agent SLAM-Based Inspection System for Rough Terrain
  • 4.1 Introduction
  • 4.2 Group of Mobile Robots
  • 4.2.1 Introduction to Multiagent Systems
  • 4.2.2 Multirobot Path Planning
  • 4.3 SLAM-Based Robot Inspection Approach
  • 4.3.1 Pose Tracking
  • 4.3.2 Mapping
  • 4.4 SLAM for Mobile Robots Group
  • 4.4.1 Multiagent Localization and Mapping
  • 4.5 Summary
  • References
  • 5 Evaluation
  • 5.1 Introduction
  • 5.2 Simulation Verification
  • 5.2.1 Introduction
  • 5.2.2 V-REP Models and Integration with ROS Applications
  • 5.2.3 Plane Terrain Workspace Scene
  • 5.2.4 Plane Terrain Advanced Workspace Scene
  • 5.2.5 Rough Terrain Workspace Scene
  • 5.2.6 Multirobot Exploration
  • 5.3 Environmental Experiments
  • 5.3.1 Introduction
  • 5.3.2 Underground Inspection in Mine-Like Rough Terrain
  • 5.4 Summary
  • References
  • 6 Conclusions and Future Work Discussion
  • 6.1 Conclusions Discussion
  • 6.2 Future Work Discussion
  • Reference

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