Title:
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Path planning in belief space with Pose SLAM
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Author:
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Valencia Carreño, Rafael; Andrade-Cetto, Juan; Porta Pleite, Josep Maria
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents |
Abstract:
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The probabilistic belief networks that result from standard feature-based simultaneous localization and map building cannot be directly used to plan trajectories. The reason is that they produce a sparse graph of landmark estimates
and their probabilistic relations, which is of little value to find collision free paths for navigation. In contrast, we argue in this
paper that Pose SLAM graphs can be directly used as belief roadmaps. We present a method that devises optimal navigation strategies by searching for the path in the pose graph with lowest accumulated robot pose uncertainty, independently of the map reference frame. The method shows improved navigation results when compared to shortest paths both over synthetic data and real datasets. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -robots -path planning -SLAM |
Rights:
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Document type:
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Article - Published version Conference Object |
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