Simultaneous Localization and Mapping using differential drive mobile robot under ROS

Abstract

Abstract The present work shows implementation of SLAM for mapping and navigation in indoor environment under robot operating system ROS, using differential drive robot provided by laser scan. Mapping process is done by using ROS packages based on extended kalman EKF filter algorithm, whereas localization is done by using packages based on adaptive Monte Carlo localization AMCL, navigation is performed by ROS built functions. Paper also will give concrete intuition about using EKF to accomplish SLAM, and shows how the results diverge in case of not using SALM algorithm.