Performance analysis for stable mobile robot navigation solutions

Chris Scrapper Jr.; Raj Madhavan; Stephen Balakirsky

doi:10.1117/12.780022

16 April 2008 Performance analysis for stable mobile robot navigation solutions

Chris Scrapper Jr., Raj Madhavan, Stephen Balakirsky

Proceedings Volume 6962, Unmanned Systems Technology X; 696206 (2008) https://doi.org/10.1117/12.780022
Event: SPIE Defense and Security Symposium, 2008, Orlando, Florida, United States

Abstract

Robot navigation in complex, dynamic and unstructured environments demands robust mapping and localization solutions. One of the most popular methods in recent years has been the use of scan-matching schemes where temporally correlated sensor data sets are registered for obtaining a Simultaneous Localization and Mapping (SLAM) navigation solution. The primary bottleneck of such scan-matching schemes is correspondence determination, i.e. associating a feature (structure) in one dataset to its counterpart in the other. Outliers, occlusions, and sensor noise complicate the determination of reliable correspondences. This paper describes testing scenarios being developed at NIST to analyze the performance of scan-matching algorithms. This analysis is critical for the development of practical SLAM algorithms in various application domains where sensor payload, wheel slippage, and power constraints impose severe restrictions. We will present results using a high-fidelity simulation testbed, the Unified System for Automation and Robot Simulation (USARSim).

Citation Download Citation

Chris Scrapper Jr., Raj Madhavan, and Stephen Balakirsky "Performance analysis for stable mobile robot navigation solutions", Proc. SPIE 6962, Unmanned Systems Technology X, 696206 (16 April 2008); https://doi.org/10.1117/12.780022

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