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Exploiting Multi-hop Inter-beacon Measurements in RO-SLAM

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Cooperative Robots and Sensor Networks 2015

Part of the book series: Studies in Computational Intelligence ((SCI,volume 604))

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Abstract

This chapter presents a Range Only (RO) Simultaneous Localization and Mapping (SLAM) scheme that integrates multi-hop inter-beacon range measurements. While few SLAM schemes use inter-beacon measurements, to the best of our knowledge, none of them integrates multi-hop inter-beacon measurements. In our scheme the robot gathers inter-beacon measurements with configurable hop number so that it can integrate measurements between beacons far beyond the robot’s sensing range. This chapter analyzes the impact of integrating in SLAM inter-beacon measurements with different hop numbers and evaluates its performance and robustness to measurement and odometry noise levels. It also validates its results in real experiments. It shows that the advantages of using inter-beacon measurements increase with measurements with higher hop numbers.

This work was supported by the EC-SAFEMOBIL (European Commission ICT-2011-288082), CLEAR (DPI2011-28937-C02-01) and the Ministerio de Educación y Deportes FPU Program.

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Notes

  1. 1.

    http://www.mobilerobots.com/ResearchRobots/P3AT.aspx.

  2. 2.

    https://www.hokuyo-aut.jp/02sensor/07scanner/utm_30lx.html.

  3. 3.

    http://www.nanotron.com/EN/PR_ic_modules.php.

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Authors and Affiliations

  1. Robotics, Vision and Control Research Group, University of Seville, Camino de Los Descubrimientos S/n, 41092, Sevilla, Spain

    A. Torres-González, J. Ramiro Martínez-de Dios & A. Ollero

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  1. A. Torres-González
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  2. J. Ramiro Martínez-de Dios
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  3. A. Ollero
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Correspondence to A. Ollero .

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Editors and Affiliations

  1. College of Computer and Information Sciences (CCIS), Prince Sultan University, Riyadh, Saudi Arabia, and CISTER/INESC-TEC, ISEP, Polytechnic Institute of Porto, Porto, Portugal

    Anis Koubâa

  2. Depto. Ing. de Sistemas y Automática Escuela Superior de Ingenieros, University of Seville, Sevilla, Spain

    J.Ramiro Martínez-de Dios

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Torres-González, A., Martínez-de Dios, J.R., Ollero, A. (2015). Exploiting Multi-hop Inter-beacon Measurements in RO-SLAM. In: Koubâa, A., Martínez-de Dios, J. (eds) Cooperative Robots and Sensor Networks 2015. Studies in Computational Intelligence, vol 604. Springer, Cham. https://doi.org/10.1007/978-3-319-18299-5_5

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  • DOI: https://doi.org/10.1007/978-3-319-18299-5_5

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  • Print ISBN: 978-3-319-18298-8

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