A Novel Particle Filter Based SLAM Algorithm for Lunar Navigation and Exploration

Nu Nu Win, Kazuki Kida, Matsuhiro Ko, Suzuki Jiei, Sarah Cosentino, Hiroyuki Ishii, Atsuo Takanishi

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

This paper presents a simultaneous localization and mapping (SLAM) system for lunar exploration. The proposed SLAM algorithm presents a significantly lower computational complexity compared to the state-of-the-art solutions, due the use of a Rao-Blackwellised particle filter with adaptive and compound resampling. The proposed SLAM sensor system consists of one light detecting and ranging sensor (LIDAR) and one IMU, to minimize illumination-dependent errors; as the lunar environment, and in particular the target exploration region around the Marius Hills hole, presents very variable illumination conditions. The system was tested via simulation, using existing environmental data from the mare tranquillitatis pit crater.

元の言語English
ホスト出版物のタイトル2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019
出版者Institute of Electrical and Electronics Engineers Inc.
ページ74-78
ページ数5
ISBN(電子版)9781728147406
DOI
出版物ステータスPublished - 2019 11
イベント4th International Conference on Robotics and Automation Engineering, ICRAE 2019 - Singapore, Singapore
継続期間: 2019 11 222019 11 24

出版物シリーズ

名前2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019

Conference

Conference4th International Conference on Robotics and Automation Engineering, ICRAE 2019
Singapore
Singapore
期間19/11/2219/11/24

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Control and Optimization

フィンガープリント A Novel Particle Filter Based SLAM Algorithm for Lunar Navigation and Exploration' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

    Win, N. N., Kida, K., Ko, M., Jiei, S., Cosentino, S., Ishii, H., & Takanishi, A. (2019). A Novel Particle Filter Based SLAM Algorithm for Lunar Navigation and Exploration. : 2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019 (pp. 74-78). [9043804] (2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRAE48301.2019.9043804