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Authors: Amir Monjazeb 1 ; Jurek Z. Sasiadek 1 and Dan Necsulescu 2

Affiliations: 1 Carleton University, Canada ; 2 Ottawa University, Canada

ISBN: 978-989-758-039-0

Keyword(s): Simultaneous Localization and Mapping (SLAM) Problem, Unscented HybridSLAM, Unscented Kalman Filter, Process Time, Root Mean Square (RMS) Position Error, Orientation Error.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper presents an investigation on the performance of Unscented HybridSLAM using two different mapping strategies. The global map estimation using Unscented Kalman Filter is scrutinized for different scenarios, with and without the influence of a data association process. The accuracy of generated global map under different vehicle speed settings and with different process time is demonstrated using computer simulation. Results are discussed in terms of Root Mean Square (RMS) position error, orientation error, and time of navigation process. Results show that depending on the application, and on a desired speed, a compromise has to be done to get the best efficacy.

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Paper citation in several formats:
Monjazeb, A.; Monjazeb, A.; Z. Sasiadek, J.; Z. Sasiadek, J. and Necsulescu, D. (2014). Navigation of an Autonomous Mobile Robot Using Data Association Method.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 304-311. DOI: 10.5220/0005059403040311

@conference{icinco14,
author={Amir Monjazeb. and Amir Monjazeb. and Jurek Z. Sasiadek. and Jurek Z. Sasiadek. and Dan Necsulescu.},
title={Navigation of an Autonomous Mobile Robot Using Data Association Method},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={304-311},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005059403040311},
isbn={978-989-758-039-0},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Navigation of an Autonomous Mobile Robot Using Data Association Method
SN - 978-989-758-039-0
AU - Monjazeb, A.
AU - Monjazeb, A.
AU - Z. Sasiadek, J.
AU - Z. Sasiadek, J.
AU - Necsulescu, D.
PY - 2014
SP - 304
EP - 311
DO - 10.5220/0005059403040311

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