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Localization and mapping using recursive smoothing splines
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2015 (English)In: 2007 European Control Conference, ECC 2007, 2015, 2166-2171 p.Conference paper (Refereed)
Abstract [en]

In this paper a recursive smoothing spline approach is proposed for mapping and localization in continuous-featured environments such as terrains. Periodic smoothing splines are used to approximate the contour of encountered obstacles and for trajectory planning around them. The splines are generated through minimizing a cost function subject to constraints imposed by a linear control system. The filtering effect of the smoothing splines allows for usage of noisy sensor data. An important assumption is that several data sets for the same closed contour can be obtained. Thus a recursive approach is used to obtain a series of splines with improved accuracy.

Place, publisher, year, edition, pages
2015. 2166-2171 p.
Keyword [en]
Cost functions, Linear control systems, Mapping, Closed contours, Filtering effects, Localization and mappings, Mapping and localization, Noisy sensors, Recursive approach, Smoothing spline, Trajectory Planning, Contour measurement
National Category
URN: urn:nbn:se:kth:diva-167384ScopusID: 2-s2.0-84927726164ISBN: 9783952417386OAI: diva2:815248
2007 9th European Control Conference, ECC 2007; Kos International Convention Center (KICC)Kos; Greece; 2 July 2007 through 5 July 2007

QC 20150529

Available from: 2015-05-29 Created: 2015-05-22 Last updated: 2015-05-29Bibliographically approved

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