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

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

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

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

Department of Electrical and Electronic Engineering

Research output: Contribution to conference › Paper › peer-review

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
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

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Human-Computer Interaction
Software

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title = "R-θ motion model for EKF SLAM of two-wheeled mobile robot",

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.",

author = "Kim, {Dong Yeop} and Hwang, {Jae Pil} and Euntai Kim and Kim, {Young Ouk}",

year = "2008",

language = "English",

pages = "884--887",

note = "39th International Symposium on Robotics, ISR 2008 ; Conference date: 15-10-2008 Through 17-10-2008",

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AU - Kim, Dong Yeop

AU - Hwang, Jae Pil

AU - Kim, Euntai

AU - Kim, Young Ouk

PY - 2008

Y1 - 2008

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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M3 - Paper

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T2 - 39th International Symposium on Robotics, ISR 2008

Y2 - 15 October 2008 through 17 October 2008

ER -

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

Abstract

Other

All Science Journal Classification (ASJC) codes

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