Learning Probabilistic Features for Robotic Navigation Using Laser Sensors
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http://hdl.handle.net/10045/43560
Títol: | Learning Probabilistic Features for Robotic Navigation Using Laser Sensors |
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Autors: | Aznar Gregori, Fidel | Pujol, Francisco A. | Pujol, Mar | Rizo, Ramón | Pujol López, María José |
Grups d'investigació o GITE: | Informática Industrial e Inteligencia Artificial | UniCAD: Grupo de Investigación en CAD/CAM/CAE de la Universidad de Alicante |
Centre, Departament o Servei: | Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial | Universidad de Alicante. Departamento de Tecnología Informática y Computación | Universidad de Alicante. Departamento de Matemática Aplicada |
Paraules clau: | SLAM-based | Probabilistic robotic system | Learning | Navigation | Laser sensors |
Àrees de coneixement: | Ciencia de la Computación e Inteligencia Artificial | Arquitectura y Tecnología de Computadores | Matemática Aplicada |
Data de publicació: | 21-de novembre-2014 |
Editor: | Public Library of Science (PLoS) |
Citació bibliogràfica: | Aznar F, Pujol FA, Pujol M, Rizo R, Pujol M-J (2014) Learning Probabilistic Features for Robotic Navigation Using Laser Sensors. PLoS ONE 9(11): e112507. doi:10.1371/journal.pone.0112507 |
Resum: | SLAM is a popular task used by robots and autonomous vehicles to build a map of an unknown environment and, at the same time, to determine their location within the map. This paper describes a SLAM-based, probabilistic robotic system able to learn the essential features of different parts of its environment. Some previous SLAM implementations had computational complexities ranging from O(Nlog(N)) to O(N2), where N is the number of map features. Unlike these methods, our approach reduces the computational complexity to O(N) by using a model to fuse the information from the sensors after applying the Bayesian paradigm. Once the training process is completed, the robot identifies and locates those areas that potentially match the sections that have been previously learned. After the training, the robot navigates and extracts a three-dimensional map of the environment using a single laser sensor. Thus, it perceives different sections of its world. In addition, in order to make our system able to be used in a low-cost robot, low-complexity algorithms that can be easily implemented on embedded processors or microcontrollers are used. |
Patrocinadors: | This work has been supported by the Spanish Ministerio de Ciencia e Innovación (www.micinn.es), project TIN2009-10581. |
URI: | http://hdl.handle.net/10045/43560 |
ISSN: | 1932-6203 |
DOI: | 10.1371/journal.pone.0112507 |
Idioma: | eng |
Tipus: | info:eu-repo/semantics/article |
Drets: | © 2014 Aznar et al. This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. |
Revisió científica: | si |
Versió de l'editor: | http://dx.doi.org/10.1371/journal.pone.0112507 |
Apareix a la col·lecció: | INV - UNICAD - Artículos de Revistas INV - i3a - Artículos de Revistas |
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Arxiu | Descripció | Tamany | Format | |
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2014_Aznar_etal_PLoS-ONE.pdf | 2,3 MB | Adobe PDF | Obrir Vista prèvia | |
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