An evidential approach to SLAM, path planning, and active exploration
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- 作者：Joachim Clemens ; clemens@uni-bremen.de" class="auth_mail" title="E-mail the corresponding author ; Thomas Reineking ; Tobias Kluth
- 关键词：Belief functions ; SLAM ; Path planning ; Active exploration
- 刊名：International Journal of Approximate Reasoning
- 出版年：2016
- 出版时间：June 2016
- 年：2016
- 卷：73
- 期：Complete
- 页码：1-26
- 全文大小：3275 K
文摘
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A belief-function-based approach to SLAM for mobile robots is presented.
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Different types of uncertainty are explicitly represented in evidential grid maps.
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Optimal navigation and exploration based on evidential grid maps is shown.
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Evidential forward and inverse models for range sensors are provided.
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The approach is evaluated using real-world datasets recorded by a mobile robot.