Mobile Robot Based Simultaneous Localization and Mapping in UniMAP's Unknown Environment

摘要

Mapping is one of the most important aspect in robot navigation. This project emphasizes on the mapping using Simultaneous Localization and Mapping (SLAM) using GMapping approach. Turtlebot equipped with Hokuyo Laser Range Finder (LRF) URG-04LX-UG01 is used for the mapping. The SLAM operations were done in there different locations in UniMAP, which are either indoor or mixed of indoor-outdoor environment. The results show that the indoor maps obtained are more accurate than the outdoor map. This is due to the laser scanner unable to produce accurate scan measurement in outdoor environment and therefore result in scan matching problems.