Map building for mobile robot based on distributed control technology

摘要

In this paper, we presents an efficient Simultaneous Localization and Map-Building (SLAM) technique for indoor mobile robot navigation based on Laser Range Finder and Rao-Blackwellized Particle Filter (RBPF). Robot Technology Middleware (RTM) was used in the developed system. By using RTM, we can develop functional elements as “RT software components” that can be implemented by different programming languages, run in different operating system, or connected in different networks to inter-operate. Based on RTM, we developed LRF data getting component, mobile robot control component, data buffer component, RBPF component, matching component, local map component and GUI component. This paper describes the architecture of the proposed system and gives some experimental results.