Path planning for mobile robot localisation and mapping

Ngai-Ming KWOK; Sam KWONG

doi:10.1109/IECON.2004.1433377

Path planning for mobile robot localisation and mapping

Ngai-Ming KWOK, Sam KWONG

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

1 Citation (Scopus)

Abstract

The path followed by a mobile robot plays an important role in the quality of localisation and mapping. The localisation and mapping problem can be put into an estimation framework. The estimator should be supplied with a sufficient amount of information and to extract the information in an efficient way. These requirements depend on the relative geometry between the robot and landmarks in the workspace. Therefore, a path to be followed by the robot is required to be planned. The evolutionary search with multi-objective Pareto optimisation approach is adopted here to obtain a near-optimal one-step-ahead robot pose in order to improve the localisation and mapping quality. Simulation results are included to demonstrate the effectiveness of the proposed approach. © 2004 IEEE.

Original language	English
Title of host publication	IECON 2004 : 30th Annual Conference of IEEE Industrial Electronics Society
Publisher	IEEE
Pages	603-608
Number of pages	5
Volume	1
ISBN (Print)	0780387309
DOIs	https://doi.org/10.1109/IECON.2004.1433377
Publication status	Published - 2004
Externally published	Yes
Event	30th Annual Conference of IEEE Industrial Electronics Society, 2004 - Busan, Korea, Republic of Duration: 2 Nov 2004 → 6 Nov 2004

Conference

Conference	30th Annual Conference of IEEE Industrial Electronics Society, 2004
Abbreviated title	IECON 2004
Country/Territory	Korea, Republic of
City	Busan
Period	2/11/04 → 6/11/04

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10.1109/IECON.2004.1433377

Cite this

@inproceedings{17e378db50d2438cb69f662d9a1d8fe1,

title = "Path planning for mobile robot localisation and mapping",

abstract = "The path followed by a mobile robot plays an important role in the quality of localisation and mapping. The localisation and mapping problem can be put into an estimation framework. The estimator should be supplied with a sufficient amount of information and to extract the information in an efficient way. These requirements depend on the relative geometry between the robot and landmarks in the workspace. Therefore, a path to be followed by the robot is required to be planned. The evolutionary search with multi-objective Pareto optimisation approach is adopted here to obtain a near-optimal one-step-ahead robot pose in order to improve the localisation and mapping quality. Simulation results are included to demonstrate the effectiveness of the proposed approach. {\textcopyright} 2004 IEEE.",

author = "Ngai-Ming KWOK and Sam KWONG",

year = "2004",

doi = "10.1109/IECON.2004.1433377",

language = "English",

isbn = "0780387309",

volume = "1",

pages = "603--608",

booktitle = "IECON 2004 : 30th Annual Conference of IEEE Industrial Electronics Society",

publisher = "IEEE",

note = "30th Annual Conference of IEEE Industrial Electronics Society, 2004, IECON 2004 ; Conference date: 02-11-2004 Through 06-11-2004",

}

TY - GEN

T1 - Path planning for mobile robot localisation and mapping

AU - KWOK, Ngai-Ming

AU - KWONG, Sam

PY - 2004

Y1 - 2004

N2 - The path followed by a mobile robot plays an important role in the quality of localisation and mapping. The localisation and mapping problem can be put into an estimation framework. The estimator should be supplied with a sufficient amount of information and to extract the information in an efficient way. These requirements depend on the relative geometry between the robot and landmarks in the workspace. Therefore, a path to be followed by the robot is required to be planned. The evolutionary search with multi-objective Pareto optimisation approach is adopted here to obtain a near-optimal one-step-ahead robot pose in order to improve the localisation and mapping quality. Simulation results are included to demonstrate the effectiveness of the proposed approach. © 2004 IEEE.

AB - The path followed by a mobile robot plays an important role in the quality of localisation and mapping. The localisation and mapping problem can be put into an estimation framework. The estimator should be supplied with a sufficient amount of information and to extract the information in an efficient way. These requirements depend on the relative geometry between the robot and landmarks in the workspace. Therefore, a path to be followed by the robot is required to be planned. The evolutionary search with multi-objective Pareto optimisation approach is adopted here to obtain a near-optimal one-step-ahead robot pose in order to improve the localisation and mapping quality. Simulation results are included to demonstrate the effectiveness of the proposed approach. © 2004 IEEE.

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U2 - 10.1109/IECON.2004.1433377

DO - 10.1109/IECON.2004.1433377

M3 - Conference paper (refereed)

SN - 0780387309

VL - 1

SP - 603

EP - 608

BT - IECON 2004 : 30th Annual Conference of IEEE Industrial Electronics Society

PB - IEEE

T2 - 30th Annual Conference of IEEE Industrial Electronics Society, 2004

Y2 - 2 November 2004 through 6 November 2004

ER -

Path planning for mobile robot localisation and mapping

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