Development of laser rangefinder-based SLAM algorithm for mobile robot navigation

Author

Misono, Yusuke ; Goto, Yoshitaka ; Tarutoko, Yuki ; Kobayashi, Kazuyuki ; Watanabe, Kajiro

Author_Institution

Hosei Univ., Koganei

fYear

2007

fDate

17-20 Sept. 2007

Firstpage

392

Lastpage

396

Abstract

This paper describes a new implementation of the SLAM algorithm for a mobile robot operating in an outdoor environment such as the IGVC Navigation Challenge, using relative obstacle observation profile from laser rangefinder. The proposed SLAM is possible for the mobile robot to start in an unknown location in an unknown environment and, using relative observations only, incrementally build a perfect map of the world and to compute simultaneously a bounded estimate of mobile robot location by the extended Kalman filter. To confirm the proposed SLAM method, an electric wheelchair based mobile robot is used for implementation and testing.

Keywords

Kalman filters; SLAM (robots); laser ranging; mobile robots; navigation; nonlinear filters; extended Kalman filter; laser rangefinder-based SLAM algorithm; mobile robot location estimation; mobile robot navigation; outdoor environment navigation; relative obstacle observation profile; Control engineering; Equations; Fiber lasers; Global Positioning System; Mobile robots; Robot kinematics; Satellite navigation systems; Simultaneous localization and mapping; Testing; Wheelchairs; Simultaneous Localization and Map building; extended Kalman filter; laser rangefinder; mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE, 2007 Annual Conference

Conference_Location

Takamatsu

Print_ISBN

978-4-907764-27-2

Electronic_ISBN

978-4-907764-27-2

Type

conf

DOI

10.1109/SICE.2007.4421015

Filename

4421015