Efficient non-odometry method for environment mapping and localisation of mobile robots

• Autorzy: Adamowicz Mateusz , Ambroziak Leszek , Kondratiuk Mirosław

Identyfikatory

DOI

10.2478/ama-2021-0004

• Języki publikacji: EN

Abstrakty

EN

The paper presents the simple algorithm of simultaneous localisation and mapping (SLAM) without odometry information. The proposed algorithm is based only on scanning laser range finder. The theoretical foundations of the proposed method are presented. The most important element of the work is the experimental research. The research underlying the paper encompasses several tests, which were carried out to build the environment map to be navigated by the mobile robot in conjunction with the trajectory planning algorithm and obstacle avoidance.

Słowa kluczowe

EN

mobile robot; mapping; navigation; obstacle detection; obstacle avoidance

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2021
• Tom: Vol. 15, no. 1
• Strony: 24--29
• Opis fizyczny: Bibliogr. 25 poz., rys., wykr.

Twórcy

autor

Adamowicz Mateusz

• Department of Robotics and Mechatronics, Faculty of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland

autor

Ambroziak Leszek

• Department of Robotics and Mechatronics, Faculty of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland

autor

Kondratiuk Mirosław

• Department of Robotics and Mechatronics, Faculty of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland

Bibliografia

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