کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

An Enhanced SLAM Method Using ICP Algorithm for Autonomous Mobile Robots Navigation

نویسندگان :

Hasan Enami Eraghi¹ Mohammad Reza Taban² Sayed Farzad Bahreinian³ Mohammad Reza Jabbari⁴

1- Isfahan University of Technology 2- Isfahan University of Technology 3- Isfahan University of Technology 4- Isfahan University of Technology

کلمات کلیدی :

Autonomous Mobile Robot،Cubature Kalman Filter،Iterative Closest Point،Simultaneous Localization and Mapping،Unscented Kalman Filter

چکیده :

Abstract—This paper addresses the challenge of Autonomous Mobile Robot (AMR) navigation in unknown environments usingSimultaneous Localization and Mapping (SLAM). We propose improving the accuracy of AMR pose estimation within Unscented Kalman Filter (UKF)- and Cubature Kalman Filter (CKF) based SLAM frameworks by integrating the Iterative Closest Point (ICP) algorithm immediately after the state prediction step. Our approach leverages re-observed landmarks from consecutive environmental scans, aligning and matching them to refine AMR position estimates. Simulation results demonstrate that incorporating ICP into the UKF-SLAM and CKF-SLAM methods significantly enhances state estimation accuracy and system stability.

لیست مقالات

لیست مقالات بایگانی شده

Reinforcement Learning based Joint Resource Allocation and User Fairness Optimization in mmWave-NOMA HetNets

Sima Sobhi-Givi - Mahdi Nouri - Mahrokh G. Shayesteh - Hashem Kalbkhani - Zhiguo Ding

Entanglement Witness Derived By Using Kolmogorov-Arnold Networks

Fatemeh Lajevardi - Azam Mani - Ali Fahim

An event-triggered distributed consensus information filter for target tracking in sensor networks

Sara Giyani - Behrouz Safarinejadian - Sajad Shamsi

Deep Learning Meets Explainable AI: A Robust Framework for X-Ray Fracture Detection

Ali Tamizifar - Shakiba Berenjkoub - Mina Amiri

تشخیص حضور انسان در خانه‌ های هوشمند با استفاده از شبکه ی بی سیم محلی

امیرمحمد بصیرت - نغمه سادات مویدیان

Study of Plasmonic Perfect Absorber Using Three Dimensional Silver Double Triangle-Shaped Nanoparticles

Mohammad Reza Rakhshani

طراحی و بررسی یک اینورتر چند سطحی جدید با کاهش تعداد ادوات قدرت به کار گرفته شده

حسین جعفری - داریوش نظرپور - سجاد گلشن نواز - ابراهیم بابائی

Counterintuitive Benefits of Time Window Constraints: Enhancing Cost Efficiency in Vehicle Routing Problems

Mehdi Alimohammadi - Saeedeh Rezaee - Nasser Motahari Farimani - Mohammad Reza Akbarzadeh Totonchi

A Circularly Polarized Metal-Only Holographic Leaky-Wave Antenna Based on Spoof Surface Plasmon Polaritons

Reza Ashrafi Mohabadi - Sajjad Zohrevand - Mohammad Amin Chaychizadeh - Nader Komjani

Three Improved Boost Topologies with Continuous Input/Output Currents Suitable for High-Voltage Applications

Hossein Gholizadeh - Hesam Ehsan - Alireza Poursalan - Mohammad Hamed Samimi

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.3.2