UniMAP未知环境下基于移动机器人的同步定位与映射

2018 International Conference on Computational Approach in Smart Systems Design and Applications (ICASSDA) Pub Date : 2018-08-01 DOI:10.1109/ICASSDA.2018.8477629

Wan Abdul Syaqur, A. S. Ali Yeon, A. Abdullah, K. Kamarudin, R. Visvanathan, A. Ismail, S. M. Mamduh, A. Zakaria

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引用次数: 5

摘要

映射是机器人导航的一个重要方面。本项目着重于使用GMapping方法进行同时定位与制图(SLAM)。配备Hokuyo激光测距仪(LRF) URG-04LX-UG01的Turtlebot用于绘图。在UniMAP中，SLAM操作分别在室内和室内外混合环境中进行。结果表明，获得的室内地图比室外地图精度更高。这是由于激光扫描仪无法在室外环境下进行精确的扫描测量，从而导致扫描匹配问题。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Mobile Robot Based Simultaneous Localization and Mapping in UniMAP's Unknown Environment

Mapping is one of the most important aspect in robot navigation. This project emphasizes on the mapping using Simultaneous Localization and Mapping (SLAM) using GMapping approach. Turtlebot equipped with Hokuyo Laser Range Finder (LRF) URG-04LX-UG01 is used for the mapping. The SLAM operations were done in there different locations in UniMAP, which are either indoor or mixed of indoor-outdoor environment. The results show that the indoor maps obtained are more accurate than the outdoor map. This is due to the laser scanner unable to produce accurate scan measurement in outdoor environment and therefore result in scan matching problems.

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2018 International Conference on Computational Approach in Smart Systems Design and Applications (ICASSDA)

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