Experimental Investigation of Algorithms for Simultaneous Localization and Mapping

Abstract

This paper describes a mobile robot system designed for simultaneous localization and mapping. The architecture of a robotic mobile system based on the mini-tractor chassis is considered. The existing and modern methods and approaches to solving the SLAM problem are described, as well as the results of experimental studies of the work of methods on a mobile robot. A description of the developed robotic system for solving the navigation problem and constructing a route map is given. The issues addressed in this paper include the design, development and experimental testing of the mobile robot. The advantages, disadvantages of the algorithm, as well as the direction of further research are described in this work.