ENVIRONMENT MAPPING USING PROBABILISTIC QUADTREE FOR THE GUIDANCE AND CONTROL OF AUTONOMOUS MOBILE ROBOTS

Cedric Cocaud and Amor Jnifene

References

  1. [1] S.B. Williams, P. Newman, G. Dissanayake, and H. Durrant-Whyte, Autonomous underwater simultaneous localization andmap building, Proceedings IEEE Int. Conf. on Robotics andAutomation, San Francisco, CA, USA, April 2000, 1793–1798.
  2. [2] S. Thrun, D. Haehnel, D. Ferguson, M. Montemerlo, R. Triebel,W. Burgard, C. Baker, Z. Omohundro, S. Thayer, andW. L. Whittaker, A system for volumetric robotic mappingof abandoned mines, Proceedings IEEE Int. Conf. on Roboticsand Automation, May 2003, 4270–4275.
  3. [3] T. Barfoot, S. Se, and P. Jasiobedzki, Vision-based localizationand terrain modeling for planetary rovers, in A. Howard &E. Tunstel (Eds.) Intelligence for space robotics (Albuquerque,NM: TSI Press, 2006.)
  4. [4] M. Maimone, J. Biesiadecki, E. Tunstel, Y. Cheng, andC. Leger, Surface navigation and mobility intelligence onthe Mars exploration rovers, Intelligence for space robotics(Albuquerque, NM: TSI Press, 2006).
  5. [5] C. Cocaud, Autonomous tasks allocation and path genera-tion of UAV’s, Master’s Thesis, Department of MechanicalEngineering University of Ottawa, 2006.
  6. [6] C. Cocaud and A. Jnifene, Environment mapping using hy-brid octree knowledge for UAV trajectory planning, CanadianJournal of Remote Sensing, 34(4), 2008, 405–417.
  7. [7] S. Ratering and M. Gini, Robot navigation in a known en-vironment with unknown moving obstacles, IEEE Proc., Int.Conf. on Robotics and Automation, May 2–6, 1993, 25–30.
  8. [8] T.W. McLain, P.R. Chandler, S. Rasmussen, and M. Pachter,Cooperative control of UAV rendezvous, Proceedings AmericanControl Conf., Arlington, VA, June, 2001, 25–27.
  9. [9] R.W. Beard, T.W. McLain, M.A. Goodrich, and E.P. Anderson,Coordinated target assignment and intercept for unmannedair vehicles, IEEE Transactions on Robotics and Automation,18(6), 2002, 911–922.
  10. [10] I. Refanidis and I. Vlahavas, Multiobjective heuristic state-space planning, Artificial Intelligence, 145, 2003, 1–32.
  11. [11] S. Al-Hasan and G. Vachtsevanos, Intelligent route planning forfast autonomous vehicles operating in a large natural terrain,Robotics and Autonomous Systems, 40, 2002, 1–24.
  12. [12] H. Surmann, A. N¨uchter, and J. Hertzberg, An autonomousmobile robot with a 3D laser range finder for 3D explorationand digitalization of indoor environments, Robotics and Au-tonomous Systems, 45(3–4), 2003, 181–198.
  13. [13] A.R. Soltani and T. Fernando, A fuzzy based multi-objectivepath planning of construction sites, Automation in Construc-tion, 13, 2004, 717–734.
  14. [14] A. Elfes, Using occupancy grids for mobile robot perceptionand navigation, IEEE Computer, 22(6), 1989, 46–57.
  15. [15] J. V¨or¨os, Low-cost implementation of distance maps for pathplanning using matrix quadtrees and octrees, Robotics andComputer Integrated Manufacturing, 17, 2001, 447–459.
  16. [16] B. Brumitt, A. Stentz, and Martial Herbert and CMU UGVgroup, Autonomous driving with concurrent goals and multiplevehicles: Experiments and mobility components, AutonomousRobots, 12, 2002, 135–156.
  17. [17] M. Williams and D.I. Jones, A rapid method for planningpaths in three dimensions for a small aerial robot, Robotica,19(2), 2001, 125–135.
  18. [18] A. Yahja, S. Singh, and A. Stentz, An efficient on-line pathplanner for outdoor mobile robots, Robotics and AutonomousSystems, 32, 2000, 129–143.
  19. [19] J.Y. Hwang, J.S. Kim, S.S. Lim, and K.H. Park, A fastpath planning by path graph optimization, IEEE Transactionson Systems, Man, and Cybermactis. Part A: Systems andHumans, 33(1), 2003, 121–128.
  20. [20] W. Huixin and X. Huifeng, A new hybrid data structure for3D GIS, Proc. First Int. Conf. on Innovative Computing,Information and Control, Beijing, August 30–September 1,2006, 256–259.
  21. [21] J.A. Castellanosf, J.D. Tarddsf, and G. Schmidt, Buildinga global map of the environment of a mobile robot: Theimportance of correlations, Proc. IEEE Int. Conf. on Rob. andAuto., Albuquerque, NM, April, 1997, 1053–1059.
  22. [22] M. Montemerlo and S. Thrun, FastSLAM: A scalable methodfor the simultaneous localization and mapping problem inrobotics, Springer Tracts in Advanced Robotics, 27, 2007.
  23. [23] A. Doucet, N. de Freitas, K. Murphy, and S. Russell, Rao–Blackwellised particle filtering for dynamic bayesian networks,Proc. 16th Conf. on Uncertainty in AI, 2000, 176–183.202
  24. [24] K. Murphy, Bayesian map learning in dynamic environments,Neural information processing systems (Cambridge, MA: MITPress, 1999), 1015–1021.
  25. [25] G. Casella and C.P. Robert, Rao–Blackwellisation of samplingschemes, Biometrika, 83(1), 1996, 81–94.
  26. [26] G. Grisettia, G.D. Tipaldib, C. Stachniss, W. Burgard, andD. Nardi, Fast and accurate SLAM with Rao–Blackwellizedparticle filters, Robotics and Autonomous Systems, 55, 2007,30–38.
  27. [27] N. Fairfield, G.A. Kantor, and D. Wettergreen, Real-timeSLAM with octree evidence grids for exploration in underwatertunnels, Journal of Field Robotics, 24(1–2), 2007, 3–21.

Important Links:

Go Back