文章基本信息

标题：SLAM-Based Spatial Memory for Behavior-Based Robots
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作者：Shu Jiang ; Ronald C. Arkin
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：19
页码：195-202
DOI：10.1016/j.ifacol.2015.12.033
语种：English
出版社：Elsevier
摘要：AbstractKnowledge is essential for an autonomous robot to act intelligently when tasked with a mission. With recent leaps of progress, the paradigm of SLAM (Simultaneous Localization and Mapping) has emerged as an ideal source of spatial knowledge for autonomous robots. However, despite advancements in both paradigms of SLAM and robot control, research in the integration of these areas has been lacking and remained open to investigation. This paper presents an integration of SLAM into a behavior-based robotic system as a dynamically acquired spatial memory, which can be used to enable new behaviors and augment existing ones. The effectiveness of the integrated system is demonstrated with a biohazard search mission, where a robot is tasked to search and locate a biohazard within an unknown environment under a time constraint.
关键词：KeywordsSimultaneous Localization and MappingBehavior-Based RoboticsC-WMD Missions