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 language | English |
|---|---|
| Pages | 884-887 |
| Number of pages | 4 |
| Publication status | Published - 2008 Dec 1 |
| Event | 39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of Duration: 2008 Oct 15 → 2008 Oct 17 |
Other
| Other | 39th International Symposium on Robotics, ISR 2008 |
|---|---|
| Country | Korea, Republic of |
| City | Seoul |
| Period | 08/10/15 → 08/10/17 |
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All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Human-Computer Interaction
- Software
Cite this
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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 conference › Paper
TY - CONF
T1 - R-θ motion model for EKF SLAM of two-wheeled mobile robot
AU - Kim, Dong Yeop
AU - Hwang, Jae Pil
AU - Kim, Euntai
AU - Kim, Young Ouk
PY - 2008/12/1
Y1 - 2008/12/1
N2 - 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.
AB - 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.
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UR - http://www.scopus.com/inward/citedby.url?scp=84876781606&partnerID=8YFLogxK
M3 - Paper
SP - 884
EP - 887
ER -