An embedded particle filter SLAM implementation using an affordable platform
Resumen:
The recent growth in robotics applications has put to evidence the need for autonomous robots. In order for a robot to be truly autonomous, it must be able to solve the navigation problem. This paper highlights the main features of a fully embedded particle filter SLAM system and introduces some novel ways of calculating a measurement likelihood. A genetic algorithm calibration approach is used to prevent parameter over-fitting and obtain more generalizable results. Finally, it is depicted how the developed SLAM system was used to autonomously perform a field covering task showing robustness and better performance than a reference system. Several lines of possible improvements to the present system are presented.
| 2013 | |
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Simultaneous localization and mapping Kalman filter Navigation Atmospheric measurements Particle measurements ROBOTS MOVILES ALGORITMOS GENETICOS |
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| Inglés | |
| Universidad de la República | |
| COLIBRI | |
| https://hdl.handle.net/20.500.12008/23039 | |
| Acceso abierto | |
| Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| _version_ | 1807522888645869568 |
|---|---|
| author | Llofriu, Martin |
| author2 | Andrade, Federico Benavides Olivera, Facundo Weitzenfeld, Alfredo Tejera, Gonzalo |
| author2_role | author author author author |
| author_facet | Llofriu, Martin Andrade, Federico Benavides Olivera, Facundo Weitzenfeld, Alfredo Tejera, Gonzalo |
| author_role | author |
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| collection | COLIBRI |
| dc.contributor.filiacion.none.fl_str_mv | Llofriu Martin, Universidad de la República (Uruguay). Facultad de Ingeniería. Andrade Federico, Universidad de la República (Uruguay). Facultad de Ingeniería. Benavides Olivera Facundo, Universidad de la República (Uruguay). Facultad de Ingeniería. Weitzenfeld Alfredo, College of Engineering, University of South Florida, Tampa, FL, USA. Tejera Gonzalo, Universidad de la República (Uruguay). Facultad de Ingeniería. |
| dc.creator.none.fl_str_mv | Llofriu, Martin Andrade, Federico Benavides Olivera, Facundo Weitzenfeld, Alfredo Tejera, Gonzalo |
| dc.date.accessioned.none.fl_str_mv | 2020-02-04T21:21:41Z |
| dc.date.available.none.fl_str_mv | 2020-02-04T21:21:41Z |
| dc.date.issued.none.fl_str_mv | 2013 |
| dc.description.abstract.none.fl_txt_mv | The recent growth in robotics applications has put to evidence the need for autonomous robots. In order for a robot to be truly autonomous, it must be able to solve the navigation problem. This paper highlights the main features of a fully embedded particle filter SLAM system and introduces some novel ways of calculating a measurement likelihood. A genetic algorithm calibration approach is used to prevent parameter over-fitting and obtain more generalizable results. Finally, it is depicted how the developed SLAM system was used to autonomously perform a field covering task showing robustness and better performance than a reference system. Several lines of possible improvements to the present system are presented. |
| dc.description.es.fl_txt_mv | Postprint |
| dc.format.extent.es.fl_str_mv | 6 p. |
| dc.format.mimetype.es.fl_str_mv | application/pdf |
| dc.identifier.citation.es.fl_str_mv | Llofriu, M., Andrade, F., Benavides Olivera, F., Weitzenfeld, A. y Tejera, G. An embedded particle filter SLAM implementation using an affordable platform. En : 16th International Conference on Advanced Robotics (ICAR) : 25-29 Nov. [en línea]. Montevideo : IEEE, 2013, pp. 1-6. DOI: 10.1109/ICAR.2013.6766537. |
| dc.identifier.doi.none.fl_str_mv | 10.1109/ICAR.2013.6766537 |
| dc.identifier.uri.none.fl_str_mv | https://hdl.handle.net/20.500.12008/23039 |
| dc.language.iso.none.fl_str_mv | en eng |
| dc.publisher.es.fl_str_mv | IEEE |
| dc.relation.ispartof.es.fl_str_mv | 16th International Conference on Advanced Robotics (ICAR), 25-29 Nov. 2013. |
| dc.rights.license.none.fl_str_mv | Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:COLIBRI instname:Universidad de la República instacron:Universidad de la República |
| dc.subject.es.fl_str_mv | Simultaneous localization and mapping Kalman filter Navigation Atmospheric measurements Particle measurements |
| dc.subject.other.es.fl_str_mv | ROBOTS MOVILES ALGORITMOS GENETICOS |
| dc.title.none.fl_str_mv | An embedded particle filter SLAM implementation using an affordable platform |
| dc.type.es.fl_str_mv | Artículo |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article |
| dc.type.version.none.fl_str_mv | info:eu-repo/semantics/publishedVersion |
| description | Postprint |
| eu_rights_str_mv | openAccess |
| format | article |
| id | COLIBRI_a2f6fb5988efa5680030dfbb63113b00 |
| identifier_str_mv | Llofriu, M., Andrade, F., Benavides Olivera, F., Weitzenfeld, A. y Tejera, G. An embedded particle filter SLAM implementation using an affordable platform. En : 16th International Conference on Advanced Robotics (ICAR) : 25-29 Nov. [en línea]. Montevideo : IEEE, 2013, pp. 1-6. DOI: 10.1109/ICAR.2013.6766537. 10.1109/ICAR.2013.6766537 |
| instacron_str | Universidad de la República |
| institution | Universidad de la República |
| instname_str | Universidad de la República |
| language | eng |
| language_invalid_str_mv | en |
| network_acronym_str | COLIBRI |
| network_name_str | COLIBRI |
| oai_identifier_str | oai:colibri.udelar.edu.uy:20.500.12008/23039 |
| publishDate | 2013 |
| reponame_str | COLIBRI |
| repository.mail.fl_str_mv | mabel.seroubian@seciu.edu.uy |
| repository.name.fl_str_mv | COLIBRI - Universidad de la República |
| repository_id_str | 4771 |
| rights_invalid_str_mv | Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| spelling | Llofriu Martin, Universidad de la República (Uruguay). Facultad de Ingeniería.Andrade Federico, Universidad de la República (Uruguay). Facultad de Ingeniería.Benavides Olivera Facundo, Universidad de la República (Uruguay). Facultad de Ingeniería.Weitzenfeld Alfredo, College of Engineering, University of South Florida, Tampa, FL, USA.Tejera Gonzalo, Universidad de la República (Uruguay). Facultad de Ingeniería.2020-02-04T21:21:41Z2020-02-04T21:21:41Z2013Llofriu, M., Andrade, F., Benavides Olivera, F., Weitzenfeld, A. y Tejera, G. An embedded particle filter SLAM implementation using an affordable platform. En : 16th International Conference on Advanced Robotics (ICAR) : 25-29 Nov. [en línea]. Montevideo : IEEE, 2013, pp. 1-6. DOI: 10.1109/ICAR.2013.6766537.https://hdl.handle.net/20.500.12008/2303910.1109/ICAR.2013.6766537PostprintThe recent growth in robotics applications has put to evidence the need for autonomous robots. In order for a robot to be truly autonomous, it must be able to solve the navigation problem. This paper highlights the main features of a fully embedded particle filter SLAM system and introduces some novel ways of calculating a measurement likelihood. A genetic algorithm calibration approach is used to prevent parameter over-fitting and obtain more generalizable results. Finally, it is depicted how the developed SLAM system was used to autonomously perform a field covering task showing robustness and better performance than a reference system. Several lines of possible improvements to the present system are presented.Submitted by Machado Jimena (jmachado@fing.edu.uy) on 2020-02-04T17:23:49Z No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) LABWT13.pdf: 337762 bytes, checksum: 8f19b21cdb4faa16c738b604f0615e45 (MD5)Approved for entry into archive by Machado Jimena (jmachado@fing.edu.uy) on 2020-02-04T19:28:23Z (GMT) No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) LABWT13.pdf: 337762 bytes, checksum: 8f19b21cdb4faa16c738b604f0615e45 (MD5)Made available in DSpace by Seroubian Mabel (mabel.seroubian@seciu.edu.uy) on 2020-02-04T21:21:41Z (GMT). No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) LABWT13.pdf: 337762 bytes, checksum: 8f19b21cdb4faa16c738b604f0615e45 (MD5) Previous issue date: 20136 p.application/pdfenengIEEE16th International Conference on Advanced Robotics (ICAR), 25-29 Nov. 2013.Las obras depositadas en el Repositorio se rigen por la Ordenanza de los Derechos de la Propiedad Intelectual de la Universidad de la República.(Res. Nº 91 de C.D.C. de 8/III/1994 – D.O. 7/IV/1994) y por la Ordenanza del Repositorio Abierto de la Universidad de la República (Res. Nº 16 de C.D.C. de 07/10/2014)info:eu-repo/semantics/openAccessLicencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0)Simultaneous localization and mappingKalman filterNavigationAtmospheric measurementsParticle measurementsROBOTS MOVILESALGORITMOS GENETICOSAn embedded particle filter SLAM implementation using an affordable platformArtículoinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionreponame:COLIBRIinstname:Universidad de la Repúblicainstacron:Universidad de la RepúblicaLlofriu, MartinAndrade, FedericoBenavides Olivera, FacundoWeitzenfeld, AlfredoTejera, GonzaloLICENSElicense.txtlicense.txttext/plain; charset=utf-84267http://localhost:8080/xmlui/bitstream/20.500.12008/23039/5/license.txt6429389a7df7277b72b7924fdc7d47a9MD55CC-LICENSElicense_urllicense_urltext/plain; charset=utf-850http://localhost:8080/xmlui/bitstream/20.500.12008/23039/2/license_urla006180e3f5b2ad0b88185d14284c0e0MD52license_textlicense_texttext/html; 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- Universidad de la Repúblicafalse |
| spellingShingle | An embedded particle filter SLAM implementation using an affordable platform Llofriu, Martin Simultaneous localization and mapping Kalman filter Navigation Atmospheric measurements Particle measurements ROBOTS MOVILES ALGORITMOS GENETICOS |
| status_str | publishedVersion |
| title | An embedded particle filter SLAM implementation using an affordable platform |
| title_full | An embedded particle filter SLAM implementation using an affordable platform |
| title_fullStr | An embedded particle filter SLAM implementation using an affordable platform |
| title_full_unstemmed | An embedded particle filter SLAM implementation using an affordable platform |
| title_short | An embedded particle filter SLAM implementation using an affordable platform |
| title_sort | An embedded particle filter SLAM implementation using an affordable platform |
| topic | Simultaneous localization and mapping Kalman filter Navigation Atmospheric measurements Particle measurements ROBOTS MOVILES ALGORITMOS GENETICOS |
| url | https://hdl.handle.net/20.500.12008/23039 |
