Simultaneous localization and mapping based on (μ+1)-evolution strategy for mobile robots

Yuichiro Toda; Naoyuki Kubota

doi:10.1007/978-3-319-22873-0_6

Simultaneous localization and mapping based on (μ+1)-evolution strategy for mobile robots

Yuichiro Toda, Naoyuki Kubota

Research output: Contribution to journal › Conference article › peer-review

1 Citation (Scopus)

Abstract

Simultaneous Localization and Mapping (SLAM) is one of the most important capabilities for autonomous mobile robots, and many researches have been proposed demonstrating the effective SLAM methods. However, these SLAM methods sometimes require assumptions such as the sensor model, which is difficult to implement and use the SLAM methods. In our previous work, a SLAM method based on Evolution Strategy (ES) was proposed and the on-line SLAM in indoor environments was realized. However, the definition of the map building method was not clear. Therefore, we propose a SLAM method based on a simple map building and search method. In this paper, we explain our autonomous mobile robot system and propose our SLAM method based on (μ+1)-ES. The experimental results show the effectiveness of the proposed method.

Original language	English
Pages (from-to)	62-69
Number of pages	8
Journal	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	9246
DOIs	https://doi.org/10.1007/978-3-319-22873-0_6
Publication status	Published - Jan 1 2015
Externally published	Yes
Event	8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 - Portsmouth, United Kingdom Duration: Aug 24 2015 → Aug 27 2015

Keywords

Evolution strategy
Intelligent robotics
Occupancy grid map
SLAM

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-319-22873-0_6

Cite this

Simultaneous localization and mapping based on (μ+1)-evolution strategy for mobile robots. / Toda, Yuichiro; Kubota, Naoyuki.
In: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 9246, 01.01.2015, p. 62-69.

Research output: Contribution to journal › Conference article › peer-review

@article{aac906c0359f469db5cfd8fc98f646b9,

title = "Simultaneous localization and mapping based on (μ+1)-evolution strategy for mobile robots",

abstract = "Simultaneous Localization and Mapping (SLAM) is one of the most important capabilities for autonomous mobile robots, and many researches have been proposed demonstrating the effective SLAM methods. However, these SLAM methods sometimes require assumptions such as the sensor model, which is difficult to implement and use the SLAM methods. In our previous work, a SLAM method based on Evolution Strategy (ES) was proposed and the on-line SLAM in indoor environments was realized. However, the definition of the map building method was not clear. Therefore, we propose a SLAM method based on a simple map building and search method. In this paper, we explain our autonomous mobile robot system and propose our SLAM method based on (μ+1)-ES. The experimental results show the effectiveness of the proposed method.",

keywords = "Evolution strategy, Intelligent robotics, Occupancy grid map, SLAM",

author = "Yuichiro Toda and Naoyuki Kubota",

year = "2015",

month = jan,

day = "1",

doi = "10.1007/978-3-319-22873-0_6",

language = "English",

volume = "9246",

pages = "62--69",

journal = "Lecture Notes in Computer Science",

issn = "0302-9743",

publisher = "Springer Verlag",

note = "8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 ; Conference date: 24-08-2015 Through 27-08-2015",

}

TY - JOUR

T1 - Simultaneous localization and mapping based on (μ+1)-evolution strategy for mobile robots

AU - Toda, Yuichiro

AU - Kubota, Naoyuki

PY - 2015/1/1

Y1 - 2015/1/1

N2 - Simultaneous Localization and Mapping (SLAM) is one of the most important capabilities for autonomous mobile robots, and many researches have been proposed demonstrating the effective SLAM methods. However, these SLAM methods sometimes require assumptions such as the sensor model, which is difficult to implement and use the SLAM methods. In our previous work, a SLAM method based on Evolution Strategy (ES) was proposed and the on-line SLAM in indoor environments was realized. However, the definition of the map building method was not clear. Therefore, we propose a SLAM method based on a simple map building and search method. In this paper, we explain our autonomous mobile robot system and propose our SLAM method based on (μ+1)-ES. The experimental results show the effectiveness of the proposed method.

AB - Simultaneous Localization and Mapping (SLAM) is one of the most important capabilities for autonomous mobile robots, and many researches have been proposed demonstrating the effective SLAM methods. However, these SLAM methods sometimes require assumptions such as the sensor model, which is difficult to implement and use the SLAM methods. In our previous work, a SLAM method based on Evolution Strategy (ES) was proposed and the on-line SLAM in indoor environments was realized. However, the definition of the map building method was not clear. Therefore, we propose a SLAM method based on a simple map building and search method. In this paper, we explain our autonomous mobile robot system and propose our SLAM method based on (μ+1)-ES. The experimental results show the effectiveness of the proposed method.

KW - Evolution strategy

KW - Intelligent robotics

KW - Occupancy grid map

KW - SLAM

UR - http://www.scopus.com/inward/record.url?scp=84984972607&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84984972607&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-22873-0_6

DO - 10.1007/978-3-319-22873-0_6

M3 - Conference article

AN - SCOPUS:84984972607

SN - 0302-9743

VL - 9246

SP - 62

EP - 69

JO - Lecture Notes in Computer Science

JF - Lecture Notes in Computer Science

T2 - 8th International Conference on Intelligent Robotics and Applications, ICIRA 2015

Y2 - 24 August 2015 through 27 August 2015

ER -

Simultaneous localization and mapping based on (μ+1)-evolution strategy for mobile robots

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this