3D Environment Exploration with SLAM for Autonomous Mobile Robot Control-Reference-Cited by-同舟云学术

3D Environment Exploration with SLAM for Autonomous Mobile Robot Control

Published:2021-08-02 Issue: Volume:16 Page:450-456
ISSN:2224-2856
Container-title:WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
language:en
Short-container-title:

Author:

Kudriashov Andrii¹,Buratowski Tomasz¹,Garus Jerzy²,Giergiel Mariusz¹

Affiliation:

1. Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology 30-059 Krakow, Al. Mickiewicza 30 POLAND

2. Faculty of Mechanical and Electrical Engineering Polish Naval Academy 81-103 Gdynia, Smidowicza 69, POLAND

Abstract

In the paper a solution for building of 3D map of unknown terrain for the purposes of control of wheeled autonomous mobile robots operating in an isolated and hard-access area is described. The work environment is represented by a three-dimensional occupancy grid map built with SLAM techniques using LIDAR sensor system. Probabilistic methods such as adaptive Monte Carlo localization and extended Kalman filter are used to concurrently build a map of surroundings and a robot’s pose estimation. A robot’s displacement and orientation are obtained from odometry and inertial navigation system. All algorithms and sub-systems have been implemented and verified with Robot Operation System with a framework for exploration tasks in multi-level buildings

Publisher

World Scientific and Engineering Academy and Society (WSEAS)

Subject

Artificial Intelligence,General Mathematics,Control and Systems Engineering

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