双导向移动机器人的ICP-SLAM方法实现

2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics Pub Date : 2013-06-24 DOI:10.1109/ECMSM.2013.6648973

R. Tiar, N. Ouadah, O. Azouaoui, M. Djehaich, H. Ziane, N. Achour

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引用次数: 9

摘要

扫描匹配是恢复移动机器人运动的一种流行方法，也是许多定位和映射方法的基础。本文提出的工作包括在类似汽车的移动机器人Robucar上实现基于迭代最近点(ICP)算法的SLAM方法(同时定位和映射)。两个变量被认为与误差度量最小化有关。这些ICP-SLAM的变体已经在机器人上实施和测试，以进行性能比较。

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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ICP-SLAM methods implementation on a bi-steerable mobile robot

Scan matching is a popular way of recovering a mobile robot's motion and constitutes the basis of many localization and mapping approaches. The work presented in this paper consists in the implementation of a SLAM method (Simultaneous Localization and Mapping) based on the Iterative Closest Points (ICP) algorithm on the Robucar, a car-like mobile robot. Two variants are considered related to the error metric minimization. These variants of ICP-SLAM have been implemented and tested on the robot for performance's comparison.

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2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics

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