RT Journal Article
T1 SLAM for Autonomous Planetary Rovers with Global Localization
A1 Geromichalos, Dimitrios
A1 Azkarate, Martin
A1 Tsardoulias, Emmanouil
A1 Gerdes, Levin
A1 Petrou, Loukas
A1 Pérez-del-Pulgar-Mancebo, Carlos Jesús
K1 Robots - Programación
AB This paper describes a novel approach to SLAM techniques applied to the autonomous planetary rover exploration scenarioin order to reduce both the relative and absolute localization errors, using two well proven techniques: particle filters and scan matching. Continuous relative localization is improved by matching high resolution sensor scans to the online created local map. Additionally, in order to avoid issues with drifting localization, absolute localization is globally corrected at discrete times, according to predefined event criteria, by matching the current local map to the orbiter's global map. The resolutions of local and global maps can be appropriately chosen for computation and accuracy purposes. Further, the online generated local map, of the form of a structured elevation grid map, can also be used to evaluate the traversability of the surrounding environment and allow for continuous navigation.The objective of this work is to support long-range low-supervision planetary exploration.The implemented SLAM technique has been validated with a dataset acquired during a field test campaign performed at the Teide Volcano on the island of Tenerife, representative of a Mars/Moon exploration scenario.
PB Wiley
YR 2020
FD 2020-02-28
LK https://hdl.handle.net/10630/35659
UL https://hdl.handle.net/10630/35659
LA eng
NO Geromichalos D, Azkarate M, Tsardoulias E, Gerdes L, Petrou L, Perez Del Pulgar C. SLAM for autonomous planetary rovers with global localization. J Field Robotics. 2020; 37: 830–847. https://doi.org/10.1002/rob.21943
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026