The New Method of Active SLAM for Mapping Using LiDAR

Abstract

In this article, we propose a new approach to addressing the issue of active SLAM. In this design, we used the already functional SLAM algorithm, which we modified for our case. Matlab was used as the main software tool. All proposed methods were experimentally verified on a mobile robotic system. We used LiDAR as the primary sensor. After mapping the environment, we created a grid map. The grid map may be used for the navigation of the mobile robotic system, but the navigation and control of the mobile robotic system are not involved in this article. The result of the whole process is an autonomous mapping of the environment.