![](/images/graphics-bg.png)
Information-Fusion Methods Based Simultaneous Localization and Mapping for Robot Adapting to Search and Rescue Postdisaster Environments
Joint Authors
Song, Yong
Zhang, Chengjin
Wang, Hongling
Pang, Bao
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-02-01
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
The first application of utilizing unique information-fusion SLAM (IF-SLAM) methods is developed for mobile robots performing simultaneous localization and mapping (SLAM) adapting to search and rescue (SAR) environments in this paper.
Several fusion approaches, parallel measurements filtering, exploration trajectories fusing, and combination sensors’ measurements and mobile robots’ trajectories, are proposed.
The novel integration particle filter (IPF) and optimal improved EKF (IEKF) algorithms are derived for information-fusion systems to perform SLAM task in SAR scenarios.
The information-fusion architecture consists of multirobots and multisensors (MAM); multiple robots mount on-board laser range finder (LRF) sensors, localization sonars, gyro odometry, Kinect-sensor, RGB-D camera, and other proprioceptive sensors.
This information-fusion SLAM (IF-SLAM) is compared with conventional methods, which indicates that fusion trajectory is more consistent with estimated trajectories and real observation trajectories.
The simulations and experiments of SLAM process are conducted in both cluttered indoor environment and outdoor collapsed unstructured scenario, and experimental results validate the effectiveness of the proposed information-fusion methods in improving SLAM performances adapting to SAR scenarios.
American Psychological Association (APA)
Wang, Hongling& Zhang, Chengjin& Song, Yong& Pang, Bao. 2018. Information-Fusion Methods Based Simultaneous Localization and Mapping for Robot Adapting to Search and Rescue Postdisaster Environments. Journal of Robotics،Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1197790
Modern Language Association (MLA)
Wang, Hongling…[et al.]. Information-Fusion Methods Based Simultaneous Localization and Mapping for Robot Adapting to Search and Rescue Postdisaster Environments. Journal of Robotics No. 2018 (2018), pp.1-13.
https://search.emarefa.net/detail/BIM-1197790
American Medical Association (AMA)
Wang, Hongling& Zhang, Chengjin& Song, Yong& Pang, Bao. Information-Fusion Methods Based Simultaneous Localization and Mapping for Robot Adapting to Search and Rescue Postdisaster Environments. Journal of Robotics. 2018. Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1197790
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197790