Exploration of Designed Robot in Non Linear Movement Using EKF SLAM and Its Stability on Loose Concrete Surface

摘要

The paper analyze the pressure exerted during movement of robot on path (marble flooring and Pebbled surface) using Gmapping based EKF (Extended Kalman Filter) for SLAM (Simultaneous Localization and Mapping). The experiments were carried out using meta software (vMicro) and Arduino BSP on.Net framework, which was not discussed in collaborative SLAM. In this paper, pressure and physical information captured by various sensors are analyzed and concludes robot’s behavior at different surface type with various angles.