Slam Using LIDAR For UGV
Journal Title: International Journal for Research in Applied Science and Engineering Technology (IJRASET) - Year 2017, Vol 5, Issue 3
Abstract
Simultaneous localization and mapping is a mobile robot positioning themselves and creating the map of the environment at the same time, which is the core problem of the vehicle achieve the authentic intelligent. EKF-SLAM is a most used SLAM algorithm based on the extended Kaiman Alter. The LIDAR will reduce its positioning error compared with the dead reckoning and has more simplified and generic model compared with the EKF-SLAM algorithm based on vehicle kinematics model. Meanwhile, it has a lower requirements on the hardware acquisition system. The algorithm is more robust than the traditional EKF-SLAM so the algorithm will have a certain reference value on the SLAM research and provide a new way on the SLAM research based on the differential model of vehicle motion.
Authors and Affiliations
I. Harish, S. Raja, J. Gowtham, T. M. Jayakumar, B. Karthik
Keywords
Related Articles
- EP ID EP23673
- DOI http://doi.org/10.22214/ijraset.2017.3211
- Views 287
- Downloads 5
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