CoreSLAM : a SLAM Algorithm in less than 200 lines of C code
نویسندگان
چکیده
This paper presents a Laser-SLAM algorithm which has been programmed in less than 200 lines of Clanguage code. Our idea was to develop and implement a very simple SLAM algorithm that could be easily integrated into our particle-filter based localization subsystem. For our experiments, we have been using a homebrew robotic platform called MinesRover. It’s a six wheels robot fully equipped with sensors, including a Hokuyo URG04 laser scanner. A typical example of our experiments is presented, showing the good performance of the algorithm. Furthermore, the full source code of the map update and map matching functions are provided in this paper. This work shows the possibility to perform complex tasks using simple and easily programmable algorithms.
منابع مشابه
Localisation et cartographie simultanées pour un robot mobile équipé d'un laser à balayage : CoreSLAM. (Simultaneous Localization and Mapping for a mobile robot with a laser scanner : CoreSLAM)
Autonomous navigation is one of the main areas of research in the eld of intelligent vehicles and mobile robots. In this eld, we seek to create algorithms and methods that give robots the ability to move safely and autonomously in a complex and dynamic environment. The algorithms that ensure the tasks of localization and mapping have an important place among the di erent algorithms used in this...
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