TY - JOUR
T1 - Research on simultaneous localization and mapping of indoor mobile robot
AU - Liu, Xingdong
AU - Luo, Xiao
AU - Zhong, Xinliang
N1 - Publisher Copyright:
© Published under licence by IOP Publishing Ltd.
PY - 2018/8/30
Y1 - 2018/8/30
N2 - Simultaneous localization and mapping (SLAM) is the key technology to fulfill mobile robot obstacle avoidance and autonomous navigation. As cameras such as binocular cameras or RGB-D cameras exist wide-angle limitations, the use of such sensors prone to map mismatches and localization errors. In order to solve the aforementioned problems, 2D laser radar and odometer are used as the core sensor to design an experimental system for indoor SLAM, which is configured on a mobile robot to examine the effect of indoor SLAM. Through the Rao-Blackwellized [1] particle filter algorithm, the data of laser radar and odometer are fused with real-time processing, which realizes the construction of map as well as localization and navigation of the mobile robot in the unknown environment. Experiments on simulation and physical verification were carried out with open source robot operating system (ROS). The simulation and experimental results confirm the feasibility and practicability of the platform.
AB - Simultaneous localization and mapping (SLAM) is the key technology to fulfill mobile robot obstacle avoidance and autonomous navigation. As cameras such as binocular cameras or RGB-D cameras exist wide-angle limitations, the use of such sensors prone to map mismatches and localization errors. In order to solve the aforementioned problems, 2D laser radar and odometer are used as the core sensor to design an experimental system for indoor SLAM, which is configured on a mobile robot to examine the effect of indoor SLAM. Through the Rao-Blackwellized [1] particle filter algorithm, the data of laser radar and odometer are fused with real-time processing, which realizes the construction of map as well as localization and navigation of the mobile robot in the unknown environment. Experiments on simulation and physical verification were carried out with open source robot operating system (ROS). The simulation and experimental results confirm the feasibility and practicability of the platform.
UR - http://www.scopus.com/inward/record.url?scp=85059087858&partnerID=8YFLogxK
U2 - 10.1088/1742-6596/1074/1/012099
DO - 10.1088/1742-6596/1074/1/012099
M3 - Conference article
AN - SCOPUS:85059087858
SN - 1742-6588
VL - 1074
JO - Journal of Physics: Conference Series
JF - Journal of Physics: Conference Series
IS - 1
M1 - 012099
T2 - International Conference on Mechanical, Electric and Industrial Engineering, MEIE 2018
Y2 - 12 May 2018 through 14 May 2018
ER -