3D Environment Exploration with SLAM for Autonomous Mobile Robot Control

Abstract

In the paper a solution for building of 3D map of unknown terrain for the purposes of control of wheeled autonomous mobile robots operating in an isolated and hard-access area is described. The work environment is represented by a three-dimensional occupancy grid map built with SLAM techniques using LIDAR sensor system. Probabilistic methods such as adaptive Monte Carlo localization and extended Kalman filter are used to concurrently build a map of surroundings and a robot’s pose estimation. A robot’s displacement and orientation are obtained from odometry and inertial navigation system. All algorithms and sub-systems have been implemented and verified with Robot Operation System with a framework for exploration tasks in multi-level buildings