Grid-based map making using particle filters

摘要

One of the fundamental tasks in robotics is the creation of a map of the area where the robot is moving. The created map is used for its navigation in this environment. This task is called Simultaneous Localisation and Mapping (SLAM). There are many various algorithms for accomplishing this task, such as Kalman filters or particle filters. At present, mainly the particle filters are used. Together with grid-based maps, they allow the creation of the most precise and consistent maps.