Intelligent planning based on multi-resolution map for simultaneous localization and mapping

Yuichiro Toda, Naoyuki Kubota, Norio Baba

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

Simultaneous localization and mapping (SLAM) is one of important topics in robotics. However, we must consider various intelligent behaviors in SLAM, e.g., the exploration of unknown areas and effective path planning of mobile robots. To realize these intelligent behaviors, we use a multi-resolution map. The multi-resolution map can be updated by the operators suitable to a specific aim. The first aim is to represent the occupied or empty cells in the built map. The next aim is to represent the unknown areas in the built map. These are used for the intelligent planning. The intelligent planning is composed of preplanning, online planning, and adaptive planning. These planning methods are used according to the state of a built map. The experimental results show the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationIEEE SSCI 2011
Subtitle of host publicationSymposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space
Pages144-150
Number of pages7
DOIs
Publication statusPublished - Aug 12 2011
Externally publishedYes
EventSymposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS 2011 - Paris, France
Duration: Apr 11 2011Apr 15 2011

Publication series

NameIEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space

Other

OtherSymposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS 2011
CountryFrance
CityParis
Period4/11/114/15/11

Keywords

  • Intelligent Robitics
  • Multi-resolution Map
  • Planning and Scheduling
  • Simultaneous Localization and Mapping

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Information Systems

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    Toda, Y., Kubota, N., & Baba, N. (2011). Intelligent planning based on multi-resolution map for simultaneous localization and mapping. In IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (pp. 144-150). [5945794] (IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space). https://doi.org/10.1109/RIISS.2011.5945794