R-θ motion model for EKF SLAM of two-wheeled mobile robot

Dong Yeop Kim, Jae Pil Hwang, Euntai Kim, Young Ouk Kim

Research output: Contribution to conferencePaper

Abstract

For control update of SLAM, there are many motion models. Two of popular motion model are velocity motion model and odometry motion model. However, these two do not appropriate for some aspect of mobile robot. These defects occur when motion model is used as control input of mobile robot navigation, even though this violates philosophy of motion model. In order to use motion model as control input, r-θ Motion Model will be proposed, and its merits will be commented.

Original languageEnglish
Pages884-887
Number of pages4
Publication statusPublished - 2008 Dec 1
Event39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of
Duration: 2008 Oct 152008 Oct 17

Other

Other39th International Symposium on Robotics, ISR 2008
CountryKorea, Republic of
CitySeoul
Period08/10/1508/10/17

Fingerprint

Mobile robots
Navigation
Defects

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

Cite this

Kim, D. Y., Hwang, J. P., Kim, E., & Kim, Y. O. (2008). R-θ motion model for EKF SLAM of two-wheeled mobile robot. 884-887. Paper presented at 39th International Symposium on Robotics, ISR 2008, Seoul, Korea, Republic of.
Kim, Dong Yeop ; Hwang, Jae Pil ; Kim, Euntai ; Kim, Young Ouk. / R-θ motion model for EKF SLAM of two-wheeled mobile robot. Paper presented at 39th International Symposium on Robotics, ISR 2008, Seoul, Korea, Republic of.4 p.
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Kim, DY, Hwang, JP, Kim, E & Kim, YO 2008, 'R-θ motion model for EKF SLAM of two-wheeled mobile robot' Paper presented at 39th International Symposium on Robotics, ISR 2008, Seoul, Korea, Republic of, 08/10/15 - 08/10/17, pp. 884-887.

R-θ motion model for EKF SLAM of two-wheeled mobile robot. / Kim, Dong Yeop; Hwang, Jae Pil; Kim, Euntai; Kim, Young Ouk.

2008. 884-887 Paper presented at 39th International Symposium on Robotics, ISR 2008, Seoul, Korea, Republic of.

Research output: Contribution to conferencePaper

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Kim DY, Hwang JP, Kim E, Kim YO. R-θ motion model for EKF SLAM of two-wheeled mobile robot. 2008. Paper presented at 39th International Symposium on Robotics, ISR 2008, Seoul, Korea, Republic of.