文章基本信息

标题：An Open-source Bio-inspired Solution to Underwater SLAM ★
本地全文：下载
作者：Luan Silveira ; Felipe Guth ; Paulo Drews-Jr 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：2
页码：212-217
DOI：10.1016/j.ifacol.2015.06.035
语种：English
出版社：Elsevier
摘要：AbstractWe present a bio-inspired approach to deal with the localization and spatial mapping problem, extending the successful previous RatSLAM approach from 2D ground vehicles to the 3D underwater environments. Our approach, called DolphinSLAM, is a SLAM system based on mammals navigation. Experiments in simulation and real environments were conducted involving long-term navigation tasks with different robots and sensors. Our proposal is open- source, being integrated with the Robot Operating System (ROS).
关键词：KeywordsUnderwater RoboticsSLAM and Bio-Inspired Approaches