ICP-SLAM methods implementation on a bi-steerable mobile robot

Abstract

Scan matching is a popular way of recovering a mobile robot's motion and constitutes the basis of many localization and mapping approaches. The work presented in this paper consists in the implementation of a SLAM method (Simultaneous Localization and Mapping) based on the Iterative Closest Points (ICP) algorithm on the Robucar, a car-like mobile robot. Two variants are considered related to the error metric minimization. These variants of ICP-SLAM have been implemented and tested on the robot for performance's comparison.