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Planning reliable paths with Pose SLAM
Valencia Carreño, Rafael; Morta Garriga, Martí; Andrade-Cetto, Juan; Porta Pleite, Josep Maria
Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
The 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.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robots
robots PARAULES AUTOR: autonomous navigation
path planning
simultaneous localization and map building (SLAM)
Robòtica
Classificació INSPEC::Automation::Robots
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
info:eu-repo/semantics/submittedVersion
Artículo
         

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