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

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019
出版社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
国/地域Singapore
CitySingapore
Period19/11/2219/11/24

ASJC Scopus subject areas

  • 人工知能
  • 制御およびシステム工学
  • 制御と最適化

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