Implementation of a New-Optimized ROS-Based SLAM for Mobile Robot

Abstract

The Simultaneous Location and Mapping (SLAM) problem addresses two critical issues in mobile robotics. The first question is: Where am I? The second question concerns the characteristics of the robot's environment: What does the environment in which I find myself look like? In a SLAM system, a robotic vehicle placed in an unknown environment and position, must build a map of the environment while trying to locate itself on this map. The robot has several sensors that help it retrieve the information it needs. In order to increase TurtleBot3 Burger's localization accuracy and prevent navigation failure, this study describes the creation of an optimized localization and navigation algorithm. SLAM (Simultaneous Localization And Mapping) consists of creating a precise map of a location and locating itself within this map. It aims to make the robot completely autonomous.