Autonomous Navigation of an Outdoor Mobile Robot in a Cluttered Environment

Amir Monjazeb, Jurek Z. Sasiadek, Dan Necsulescu

2012

Abstract

This paper proposes a modification of HybridSLAM strategy that is used to navigate an outdoor autonomous mobile robot in a cluttered environment. HybridSLAM is combining extended Kalman filter SLAM EKF-SLAM and FastSLAM to take advantage of strengths and to cover shortcomings of both filters. By the use of an unscented version of Kalman filter instead of EKF-SLAM, the formulation of the HybridSLAM is revised. Same as HybridSLAM, the new revised algorithm uses the state distribution capabilities of the unscented Kalman filter to keep the uncertainty of the system to be remembered for a long trajectory, and at each time step, FastSLAM is used to produce local maps. Presented simulations and results evaluate the performance of the proposed approach using Unscented Kalman filter in a cluttered environment.

Paper Citation

in Harvard Style

Monjazeb A., Z. Sasiadek J. and Necsulescu D. (2012). Autonomous Navigation of an Outdoor Mobile Robot in a Cluttered Environment . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 485-488. DOI: 10.5220/0004047304850488

in Bibtex Style

@conference{icinco12,
author={Amir Monjazeb and Jurek Z. Sasiadek and Dan Necsulescu},
title={Autonomous Navigation of an Outdoor Mobile Robot in a Cluttered Environment },
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={485-488},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004047304850488},
isbn={978-989-8565-22-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Autonomous Navigation of an Outdoor Mobile Robot in a Cluttered Environment
SN - 978-989-8565-22-8
AU - Monjazeb A.
AU - Z. Sasiadek J.
AU - Necsulescu D.
PY - 2012
SP - 485
EP - 488
DO - 10.5220/0004047304850488