Preliminary Results on 2-D Simultaneous Localization and Mapping for Aerial Robots in Dynamics Environments

Manuel Simas, Bruno J. Guerreiro, Pedro Batista

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the design and validation of an Extend Kalman Filter (EKF) for Simultaneous Localization and Mapping with Moving Objects Tracking (SLAMMOT) with application to unmanned aerial vehicles (UAVs) in uncertain and dynamic environments. The proposed solution includes the tracking of Moving Objects (MO) using the Multiple Hypothesis Tracking (MHT) method, as well as the identification of the motion models of the environment's objects applying the Interacting Multiple Model (IMM) algorithm. The consistency and performance of the devised SLAMMOT filter is successfully confirmed with simulation results.

Original languageEnglish
Title of host publication2019 7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages180-185
Number of pages6
ISBN (Electronic)9781728131184
DOIs
Publication statusPublished - Nov 2019
Event7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019 - Daejeon, Korea, Republic of
Duration: 1 Nov 20193 Nov 2019

Conference

Conference7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019
CountryKorea, Republic of
CityDaejeon
Period1/11/193/11/19

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