Giving a Compass to a Robot - Probabilistic Techniques for Simultaneous Localisation and Map Building (SLAM) in Mobile Robotics

R. W. v. L. Wenzel
Publishing date
December 20, 2002
6 pages
An important feature of an autonomous mobile robotic system is its ability to accurately localize itself while simultaneously constructing a map of its environment. This problem is complicated because of its chicken-and-egg nature: in order to determine its location the robot needs to know the map, and in order to build an accurate map the robot must know where it is. In addition, a robust system must account for the noise in odometry and sensor readings. This project explores the probabilistic methods of solving the SLAM problem using Rao-Blackwellisation.