3D Environment Exploration with SLAM for Autonomous Mobile Robot Control | Zendy

Andrii Kudriashov | Zendy; Tomasz Buratowski | Zendy; Jerzy Garus | Zendy; Mariusz Giergiel | Zendy

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3D 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

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

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