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Robot Localization and Map Building
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Robot Localization and Map Building
Robot Localization and Map Building
Edited by
Hanafiah Yussof
In-Tech
intechweb.org
Published by In-Teh
In-Teh
Olajnica 19/2, 32000 Vukovar, Croatia
Abstracting and non-prot use of the material is permitted with credit to the source. Statements and
opinions expressed in the chapters are these of the individual contributors and not necessarily those of
the editors or publisher. No responsibility is accepted for the accuracy of information contained in the
published articles. Publisher assumes no responsibility liability for any damage or injury to persons or
property arising out of the use of any materials, instructions, methods or ideas contained inside. After
this work has been published by the In-Teh, authors have the right to republish it, in whole or part, in any
publication of which they are an author or editor, and the make other personal use of the work.
© 2010 In-teh
www.intechweb.org
Additional copies can be obtained from:
publication@intechweb.org
First published March 2010
Printed in India
Technical Editor: Sonja Mujacic
Cover designed by Dino Smrekar
Robot Localization and Map Building,
Edited by Hanaah Yussof
p. cm.
ISBN 978-953-7619-83-1
V
Preface
Navigation of mobile platform is a broad topic, covering a large spectrum of different
technologies and applications. As one of the important technology highlighting the 21st
century, autonomous navigation technology is currently used in broader spectra, ranging
from basic mobile platform operating in land such as wheeled robots, legged robots,
automated guided vehicles (AGV) and unmanned ground vehicle (UGV), to new application
in underwater and airborne such as underwater robots, autonomous underwater vehicles
(AUV), unmanned maritime vehicle (UMV), ying robots and unmanned aerial vehicle
(UAV).
Localization and mapping are the essence of successful navigation in mobile platform
technology. Localization is a fundamental task in order to achieve high levels of autonomy
in robot navigation and robustness in vehicle positioning. Robot localization and mapping is
commonly related to cartography, combining science, technique and computation to build
a trajectory map that reality can be modelled in ways that communicate spatial information
effectively. The goal is for an autonomous robot to be able to construct (or use) a map or oor
plan and to localize itself in it. This technology enables robot platform to analyze its motion
and build some kind of map so that the robot locomotion is traceable for humans and to ease
future motion trajectory generation in the robot control system. At present, we have robust
methods for self-localization and mapping within environments that are static, structured,
and of limited size. Localization and mapping within unstructured, dynamic, or large-scale
environments remain largely an open research problem.
Localization and mapping in outdoor and indoor environments are challenging tasks in
autonomous navigation technology. The famous Global Positioning System (GPS) based
on satellite technology may be the best choice for localization and mapping at outdoor
environment. Since this technology is not applicable for indoor environment, the problem
of indoor navigation is rather complex. Nevertheless, the introduction of Simultaneous
Localization and Mapping (SLAM) technique has become the key enabling technology for
mobile robot navigation at indoor environment. SLAM addresses the problem of acquiring a
spatial map of a mobile robot environment while simultaneously localizing the robot relative
to this model. The solution method for SLAM problem, which are mainly introduced in
this book, is consists of three basic SLAM methods. The rst is known as extended Kalman
lters (EKF) SLAM. The second is using sparse nonlinear optimization methods that based
on graphical representation. The nal method is using nonparametric statistical ltering
techniques known as particle lters. Nowadays, the application of SLAM has been expended
to outdoor environment, for use in outdoor’s robots and autonomous vehicles and aircrafts.
Several interesting works related to this issue are presented in this book. The recent rapid
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