Simultaneous Localization, Control and Mapping
The issue of combining control and estimation together during SLAM has in general been addressed with the idea of online high level trajectory generation. For example, by studying which vehicle maneuvers would most effectively reduce localization uncertainty [25, 78], or what maneuvers would provide the greatest reward in terms of exploration gain ; by incorporating visual servoing techniques , or by implementing a PD controller over an A* searched trajectory .
KeywordsFeedback Linearization Simultaneous Localization Laser Range Scanner Optimal State Estimation Vehicle Orientation
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