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

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

• NII書誌ID(NCID): BC04338710
• ISBN:
  • 9783030489809
• 出版国コード: sz
• タイトル言語コード: eng
• 本文言語コード: eng
• 出版地: Cham
• ページ数/冊数: ix, 131 p.
• 大きさ: 25 cm
• 分類:
  • LCC : TJ211.415
  • DC23 : 629.8/932
• 件名:
  • LCSH : Mobile robots
  • LCSH : Mobile robots -- Control
• 親書誌ID:
  • BB12377787