Simultaneous localization and mapping based on (μ+1)-evolution strategy for mobile robots

Yuichiro Toda, Naoyuki Kubota

Research output: Contribution to journalConference article

1 Citation (Scopus)

Abstract

Simultaneous Localization and Mapping (SLAM) is one of the most important capabilities for autonomous mobile robots, and many researches have been proposed demonstrating the effective SLAM methods. However, these SLAM methods sometimes require assumptions such as the sensor model, which is difficult to implement and use the SLAM methods. In our previous work, a SLAM method based on Evolution Strategy (ES) was proposed and the on-line SLAM in indoor environments was realized. However, the definition of the map building method was not clear. Therefore, we propose a SLAM method based on a simple map building and search method. In this paper, we explain our autonomous mobile robot system and propose our SLAM method based on (μ+1)-ES. The experimental results show the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)62-69
Number of pages8
JournalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9246
DOIs
Publication statusPublished - Jan 1 2015
Externally publishedYes
Event8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 - Portsmouth, United Kingdom
Duration: Aug 24 2015Aug 27 2015

Fingerprint

Simultaneous Localization and Mapping
Evolution Strategies
Mobile Robot
Mobile robots
Autonomous Mobile Robot
Search Methods
Sensor
Sensors
Experimental Results

Keywords

  • Evolution strategy
  • Intelligent robotics
  • Occupancy grid map
  • SLAM

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

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