基于ROS和Arduino的SLAM实现

2017 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO) Pub Date : 2017-08-01 DOI:10.1109/3M-NANO.2017.8286298

A. Ibanez, Renxi Qiu, Dayou Li

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引用次数: 9

摘要

本文旨在探讨在机器人操作系统(ROS)框架和Arduino技术实现背景下的同步定位和地图绘制(SLAM)问题。通过在国内环境中进行的测绘实验，详细介绍了一种用于SLAM的廉价差动驱动机器人的实现和验证。此外，对平台背后的算法(rao - blackwell化粒子滤波)也给出了一个适度但方便的理论解释。总体而言，本报告提供了一种简单且经济有效的方法，包括代码库和指南，可以使用ROS等现代技术创建用于2D绘图的机器人。

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An implementation of SLAM using ROS and Arduino

This paper aims to explore the Simultaneous Localization and Mapping (SLAM) problem in the context of implementation using the Robot Operating System (ROS) framework and the Arduino technology. The implementation of an inexpensive differential drive robot for SLAM is detailed and verified by mapping experiments conducted within domestic environments. Furthermore, a modest, yet convenient, theoretical explanation of the algorithm (Rao-Blackwellization particle filter) behind the platform is also presented. Overall, this report leads to a simple and cost effective way — including a code base and guidelines — to create robots for 2D mapping using modern technologies such as ROS.

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2017 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

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