An integrated approach to robotic navigation under uncertainty
Abstract/Contents
- Abstract
- Autonomous robot navigation has been gaining popularity in the field of robotics research due to its important and broad applications. Sequential Monte Carlo methods, also known as particle filters, are a class of sophisticated Bayesian filters for nonlinear/non-Gaussian model estimation, and have been used for the simultaneous localization and mapping (SLAM) problem in robot navigation in lieu of extended Kalman filters. However, the current particle filters, and their derivatives such as the particle-based SLAM filters for robotic navigation, still need further improvement to have better trade-off between performance and complexity in order to be used for online applications. Also, the current robot navigation approaches often focus on one aspect of the problem, lacking an integrated structure. In this work, we designed better sampling proposal distributions for particle filters, and demonstrated their superiority in simulation. Then, we applied our new particle filters to design and implement improved particle-based SLAM filters for the application of the SLAM problem in robot navigation, and tested using both simulation and outdoor experimental datasets. Finally, we incorporated the new particle-based SLAM filters in the design of a new framework for solving robotic navigation problems under uncertainty in a continuous environment. The framework balances between exploration and exploitation, and integrates global planning algorithms, local navigation routines, and exploration procedures in order to achieve the global goal, overcoming many common drawbacks of current approaches.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2011 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Wu, Bin |
|---|---|
| Associated with | Stanford University, Department of Electrical Engineering |
| Primary advisor | Cover, T. M, 1938-2012 |
| Primary advisor | Lai, T. L |
| Thesis advisor | Cover, T. M, 1938-2012 |
| Thesis advisor | Lai, T. L |
| Thesis advisor | Glynn, Peter W |
| Advisor | Glynn, Peter W |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Bin Wu. |
|---|---|
| Note | Submitted to the Department of Electrical Engineering. |
| Thesis | Thesis (Ph.D.)--Stanford University, 2011. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2011 by Bin Wu
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