室外导航不确定高度场的多边形逼近

Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI:10.1109/CDC.2000.912874

M. D. Marco, D. Prattichizzo, A. Vicino

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引用次数: 1

摘要

探索非结构化和未知环境是移动机器人最重要的任务之一。通常，在户外导航中，探索非结构化环境是基于或对地图制作程序起作用的。本文研究了高场测量图的表示和更新问题。提出了一种在高度场存在有界不确定性的情况下动态更新地图的方法。该技术基于集合隶属度估计理论，并允许对环境描述进行自适应细化。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Polygonal approximation of uncertain height fields for outdoor navigation

Exploring unstructured and unknown environments is one of the most important tasks of mobile robotics. Usually, in outdoor navigation, exploring unstructured environments is based on or is functional to map-making procedures. This paper deals with the problem of representing and updating maps from height field measurements. A technique for dynamic updating maps, in the presence of bounded uncertainties on the height field is presented. The technique is based on the set membership estimation theory, and allows for adaptive refinement of the environment description.

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Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)

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