Experimental EKF-based SLAM for Mini-rovers with IR Sensors Only
Experimental EKF-based SLAM for Mini-rovers with IR Sensors Only
复制标题
基于 EKF 的实验性 SLAM，适用于仅配备红外传感器的小型漫游车
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
M. Indri
中科院分区：
文献类型：
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作者：
F. Abrate;B. Bona;M. Indri
The performances of an EKF-based SLAM approach are experimentally discussed in the case of a mini-robot equipped with low-cost IR sensors only, showing that despite of the sparseness and noisiness of the sensors, SLAM experiments using classical SLAM methods can be performed even on a Khepera robot in a real arena, whose dimensions may be significantly larger than the robot size. The main characteristics of the SLAM approach and of the used sensors are described in the paper, which illustrates and discusses the performed tests and their results.
