A critical comparison between Fast and Hector SLAM algorithms
Journal Title: REST Journal on Emerging trends in Modelling and Manufacturing - Year 2017, Vol 3, Issue 2
Abstract
This paper compares between two Simultaneous Localization and Mapping (SLAM) algorithms. SLAM algorithms are used by a mobile robot to build a map for unknown environment and localizing itself in the map related to some landmarks using odometry. In this paper, Robot Operating System (ROS) is used for implementing and simulating Hector SLAM algorithm using a package called Hector mapping and a Fast SLAM algorithm using a package called Gmapping. The criteria for evaluating the performance are time-consumed, the size of the built map, error between the built map and the actual one and the performance variation while the map is increased. Changing the parameters for building the map is also studied, and its influence on the time consumed and the quality of the built map also. Finally, the results of the two algorithms are compared to each other in order to determine which application does Hector SLAM has the upper hand in, and in which applications Fast SLAM is recommended.
Authors and Affiliations
Mustafa Eliwa
Keywords
Related Articles
- EP ID EP241115
- DOI -
- Views 127
- Downloads 1
Finite Element Analysis of Connecting Rod to Improve Its Properties
The main objective of this study was to explore weight and cost reduction optimization for a production forged steel connecting rod. This has entailed performing a detailed load analysis. Therefore, this study has dealt...
A Review on Cost of Quality Methodology and Hidden Costs in Manufacturing Industries
Identification and reduction of manufacturing cost is an important task for any manufacturing firm to maximize the profits. Based on budget allocation for all related processes and as improvement and quality costing aspe...
Effect of Geometry and Array of Cooling Holes in Film Cooling Over an Adiabatic Flat Plate – A Computational Approach
Computational analysis has been carried out to find the film cooling effectiveness (centerline and spatially averaged) over an adiabatic flat plate. Variation in film cooling effectiveness has been determined along the d...
Development of Small Scale Pilot Biodiesel Plant and Production of Biodiesel with Jatropha Oil
A biodiesel pilot plant is developed with a capacity of 35 litre biodiesel. A reaction chamber is designed in which the mixture is stirred by means of a mechanical stirrer operates by electrical motor through a reduction...
Neural Network Prediction and Analysis of Material Removal Process during Wire Cut Electrical Discharge Machining
This article illustrates the response surface methodology and artificial neural network primarily based mathematical modelling for average machining parameters of powdered activated carbon and 7075 Al metal matrix compos...