Simultaneous localization and planning on multiple map hypotheses


Autoria(s): Morris, Timothy; Dayoub, Feras; Corke, Peter; Upcroft, Ben
Data(s)

2014

Resumo

This paper presents a novel method to rank map hypotheses by the quality of localization they afford. The highest ranked hypothesis at any moment becomes the active representation that is used to guide the robot to its goal location. A single static representation is insufficient for navigation in dynamic environments where paths can be blocked periodically, a common scenario which poses significant challenges for typical planners. In our approach we simultaneously rank multiple map hypotheses by the influence that localization in each of them has on locally accurate odometry. This is done online for the current locally accurate window by formulating a factor graph of odometry relaxed by localization constraints. Comparison of the resulting perturbed odometry of each hypothesis with the original odometry yields a score that can be used to rank map hypotheses by their utility. We deploy the proposed approach on a real robot navigating a structurally noisy office environment. The configuration of the environment is physically altered outside the robots sensory horizon during navigation tasks to demonstrate the proposed approach of hypothesis selection.

Formato

application/pdf

Identificador

http://eprints.qut.edu.au/75193/

Publicador

IEEE

Relação

http://eprints.qut.edu.au/75193/1/Morris_iros2014_camera_ready.pdf

DOI:10.1109/IROS.2014.6943204

Morris, Timothy, Dayoub, Feras, Corke, Peter, & Upcroft, Ben (2014) Simultaneous localization and planning on multiple map hypotheses. In Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), IEEE, Chicago, The United States of America, pp. 4531-4536.

Direitos

©2014 IEEE

Fonte

School of Electrical Engineering & Computer Science; Science & Engineering Faculty

Palavras-Chave #080000 INFORMATION AND COMPUTING SCIENCES #080100 ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING #Navigation #Planning #Robot sensing systems #Switches #Trajectory #Unvertainty
Tipo

Conference Paper