Open Access3D Environment Exploration with SLAM for Autonomous Mobile Robot Control
Author(s) -
Andrii Kudriashov,
Tomasz Buratowski,
Jerzy Garus,
Mariusz Giergiel
Publication year - 2021
Publication title -
wseas transactions on systems and control/wseas transactions on systems and control
Language(s) - English
Resource type - Journals
eISSN - 2224-2856
pISSN - 1991-8763
DOI - 10.37394/23203.2021.16.40
Subject(s) - odometry , occupancy grid mapping , mobile robot , simultaneous localization and mapping , computer science , extended kalman filter , computer vision , kalman filter , robot , artificial intelligence , monte carlo localization , motion planning , terrain , mobile robot navigation , lidar , probabilistic logic , robot control , geography , remote sensing , cartography
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