Real-Time 3D Mapping in Isolated Industrial Terrain with Use of Mobile Robotic Vehicle

摘要

Simultaneous localization and mapping (SLAM) is a dual process responsible for the ability of a robotic vehicle to build a map of its surroundings and estimate its position on that map. This paper presents the novel concept of creating a 3D map based on the adaptive Monte-Carlo location (AMCL) and the extended Kalman filter (EKF). This approach is intended for inspection or rescue operations in a closed or isolated area where there is a risk to humans. The proposed solution uses particle filters together with data from on-board sensors to estimate the local position of the robot. Its global position is determined through the Rao–Blackwellized technique. The developed system was implemented on a wheeled mobile robot equipped with a sensing system consisting of a laser scanner (LIDAR) and an inertial measurement unit (IMU), and was tested in the real conditions of an underground mine. One of the contributions of this work is to propose a low-complexity and low-cost solution to real-time 3D-map creation. The conducted experimental trials confirmed that the performance of the three-dimensional mapping was characterized by high accuracy and usefulness for recognition and inspection tasks in an unknown industrial environment.