SLAM Techniques Application for Mobile Robot in Rough Terrain (Mechanisms and Machine Science (87), Band 87)

Preface
Contents
1 Introduction
	1.1 Motivation
	1.2 Book Statement
	1.3 Aim and Scope
	References
2 Introduction to Mobile Robots Navigation, Localization and Mapping
	2.1 Introduction
	2.2 Mathematical Description of Mobile Robots
		2.2.1 Holonomic and Non-holonomic Mobile Robots
		2.2.2 Kinematics
		2.2.3 Dynamics
	2.3 Terrain Mapping
		2.3.1 Topological Maps
		2.3.2 Metric Maps
	2.4 Mobile Robot\'s Navigation
		2.4.1 Path Planning
		2.4.2 Bug Algorithms
		2.4.3 Geometry-Based Roadmaps
		2.4.4 Sampling-Based Roadmaps
		2.4.5 Potential Field Path Planning
	2.5 Robots Localization
		2.5.1 Odometry
		2.5.2 Inertial Navigation
		2.5.3 Visual and Laser Odometry
		2.5.4 Active Beacon Localization
	2.6 Summary
	References
3 SLAM as Probabilistic Robotics Framework Approach
	3.1 Introduction
	3.2 Motion and Observation Models
		3.2.1 Motion Model
		3.2.2 Observation Model
	3.3 Localization Estimation
		3.3.1 Markov Localization
		3.3.2 Particle Filters
		3.3.3 Kalman Filters
	3.4 Map Estimation
		3.4.1 Occupancy Grid
	3.5 Simultaneous Localization and Mapping (SLAM)
		3.5.1 SLAM Problem Definition
		3.5.2 EKF-SLAM
		3.5.3 Particle Filter SLAM
		3.5.4 Graph-Based SLAM
	3.6 Summary
	References
4 Multi-agent SLAM-Based Inspection System for Rough Terrain
	4.1 Introduction
	4.2 Group of Mobile Robots
		4.2.1 Introduction to Multiagent Systems
		4.2.2 Multirobot Path Planning
	4.3 SLAM-Based Robot Inspection Approach
		4.3.1 Pose Tracking
		4.3.2 Mapping
	4.4 SLAM for Mobile Robots Group
		4.4.1 Multiagent Localization and Mapping
	4.5 Summary
	References
5 Evaluation
	5.1 Introduction
	5.2 Simulation Verification
		5.2.1 Introduction
		5.2.2 V-REP Models and Integration with ROS Applications
		5.2.3 Plane Terrain Workspace Scene
		5.2.4 Plane Terrain Advanced Workspace Scene
		5.2.5 Rough Terrain Workspace Scene
		5.2.6 Multirobot Exploration
	5.3 Environmental Experiments
		5.3.1 Introduction
		5.3.2 Underground Inspection in Mine-Like Rough Terrain
	5.4 Summary
	References
6 Conclusions and Future Work Discussion
	6.1 Conclusions Discussion
	6.2 Future Work Discussion
	Reference