Real-time Application of SLAM based-line for Unmanned ground vehicle

摘要

This paper addresses the simultaneous localization and mapping (SLAM) of a robot in an unknown environment. Several techniques were proposed in the researches to solve this problem employ the different representations of the environment either by points or lines with their information on the extreme geometric positions. The objective of this paper has proposed a solution based on Extended Kalman Filter (EKF) for a single robot. The algorithm developed in our work is the EKF-SLAM which is implemented experimentally using a Pioneer 3-AT mobile robot equipped with a 2D laser telemeter. The obtained results using EKF-SLAM based lines shows the improvements in terms of accuracy and smoothness compared to the EKF-SLAM based points and odometer.