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Planning reliable paths with pose SLAM

AutorValencia, Rafael; Morta, Martí; Andrade-Cetto, Juan ; Porta, Josep M.
Fecha de publicación2013
EditorInstitute of Electrical and Electronics Engineers
CitaciónIEEE Transactions on Robotics 29(4): 1050-1059 (2013)
ResumenThe maps that are built by standard feature-based simultaneous localization and mapping (SLAM) methods cannot be directly used to compute paths for navigation, unless enriched with obstacle or traversability information, with the consequent increase in complexity. Here, we propose a method that directly uses the Pose SLAM graph of constraints to determine the path between two robot configurations with lowest accumulated pose uncertainty, i.e., the most reliable path to the goal. The method shows improved navigation results when compared with standard path-planning strategies over both datasets and real-world experiments. © 2004-2012 IEEE.
URIhttp://hdl.handle.net/10261/96441
DOI10.1109/TRO.2013.2257577
Identificadoresdoi: 10.1109/TRO.2013.2257577
issn: 1552-3098
e-issn: 1941-0468
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