Real-Time Simultaneous Localization and Mapping for Low-Power Wide-Area Communication

摘要

This paper describes several methods in the development of simultaneous localization and mapping (SLAM) for real-time implementation on low-power wide-area (LPWA) communication. In a case of harsh environments, a wireless communication network may be having damaged. Thus, long range (LoRa) is used as a sub-communication. We use an autonomous mobile robot and a PC server running with MATLAB software to visualize SLAM information through graphical user interface (GUI). The robot employs light detection and ranging (LiDAR), encoders, and an inertial measurement unit (IMU) sensor to observe the environmental conditions. Accuracy and computational cost are the two main factors in SLAM determining the success of the method. Thus, we also propose the optimization methods to achieve both accuracy and computational cost. The proposed methods have been implemented in real-time observation for indoor environment. The experimental results show that the proposed methods can be used to optimize SLAM in real-time implementation, especially for remote monitoring through wireless communication.