SLAM (Simultaneous localisation and mapping) Using E-PUCK Robot In Webots Software

Abstract

Traditional agriculture has been the global Abstract- This paper presents a SLAM (Simultaneous localisation and mapping) using an E-puck robot in Webots software. The area of autonomous mobile robots has recently piqued numerous researchers' interest. Due to the unique requirements of many applications of mobile robot systems, particularly in the area of localisation, robot mapping and line following have become the backbone of directing robots in an unfamiliar environment. A theoretical basis for SLAM and occupancy grids, which are employed in this work to build maps, is provided in this paper. The E-Puck robot is utilised in this project, and the simulation is done in the Webots program using Python. The E-Puck robot was successfully programmed and controlled in this experiment to locate and map an unknownarea. To cope with the uncertainty of robot posture in SLAM and self-localisation during navigation, we employ the ExtendedKalman filter (EKF). The mapping (occupancy grid) has been completed, and the robot may now travel through the surroundings using it. Using simulation results, we demonstratethat the robot system can find itself, construct an environment map, and navigate (teleoperation) in the environments.