Title: Grid-based map making using particle filters

Authors: Jaroslav Rozman

Addresses: Department of Intelligent Systems, Faculty of Information Technology, Brno University of Technology, Bozetechova 2, 612 66 Brno, Czech Republic

Abstract: One of the fundamental tasks in robotics is the creation of a map of the area where the robot is moving. The created map is used for its navigation in this environment. This task is called Simultaneous Localisation and Mapping (SLAM). There are many various algorithms for accomplishing this task, such as Kalman filters or particle filters. At present, mainly the particle filters are used. Together with grid-based maps, they allow the creation of the most precise and consistent maps.

Keywords: robot navigation; particle filters; simultaneous localisation and mapping; SLAM; grid-based map making; exploration; robot localisation.

DOI: 10.1504/IJAC.2009.024752

International Journal of Autonomic Computing, 2009 Vol.1 No.2, pp.211 - 221

Available online: 30 Apr 2009 *

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