Application of simultaneous localization and mapping (SLAM) in autonomous exploration of urban environments

Andrew R. Cooke; Phil Greenway; Mike le Maistre; Richard Manley; David Mullin; David Nicholson; James Swinnerton; Dimitris Valachis; Andy Wright

doi:10.1117/12.487892

25 August 2003 Application of simultaneous localization and mapping (SLAM) in autonomous exploration of urban environments

Andrew R. Cooke, Phil Greenway, Mike le Maistre, Richard Manley, David Mullin, David Nicholson, James Swinnerton, Dimitris Valachis, Andy Wright

Author Affiliations +

Proceedings Volume 5096, Signal Processing, Sensor Fusion, and Target Recognition XII; (2003) https://doi.org/10.1117/12.487892
Event: AeroSense 2003, 2003, Orlando, Florida, United States

Abstract

This paper describes an autonomous navigation system capable of exploring an unknown environment, as implemented by the Advanced Technology Centre of BAE SYSTEMS (ATC). An overview of the enabling technology of the autonomous system, simultaneous localization and mapping (SLAM), is given before describing in detail the utility functions used to perform the strategic decision making required for autonomous exploration. Relevant studies, performed in simulation, of the major issues involved in multi-platform SLAM are also described. Initial results and conclusions are given at the end of the paper. All experiments are conducted on the Pioneer all terrain mobile robots using common off the shelf sensing devices.

Citation Download Citation

Andrew R. Cooke, Phil Greenway, Mike le Maistre, Richard Manley, David Mullin, David Nicholson, James Swinnerton, Dimitris Valachis, and Andy Wright "Application of simultaneous localization and mapping (SLAM) in autonomous exploration of urban environments", Proc. SPIE 5096, Signal Processing, Sensor Fusion, and Target Recognition XII, (25 August 2003); https://doi.org/10.1117/12.487892

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