TY - GEN
T1 - Intelligent planning based on multi-resolution map for simultaneous localization and mapping
AU - Toda, Yuichiro
AU - Kubota, Naoyuki
AU - Baba, Norio
PY - 2011/8/12
Y1 - 2011/8/12
N2 - 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.
AB - 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.
KW - Intelligent Robitics
KW - Multi-resolution Map
KW - Planning and Scheduling
KW - Simultaneous Localization and Mapping
UR - http://www.scopus.com/inward/record.url?scp=79961213835&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79961213835&partnerID=8YFLogxK
U2 - 10.1109/RIISS.2011.5945794
DO - 10.1109/RIISS.2011.5945794
M3 - Conference contribution
AN - SCOPUS:79961213835
SN - 9781424498840
T3 - IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space
SP - 144
EP - 150
BT - IEEE SSCI 2011
T2 - Symposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS 2011
Y2 - 11 April 2011 through 15 April 2011
ER -