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Scan matching based SLAM - dealing with dynamic obstacles

Krejsa J., Vechet S.

Modelling and Optimization of Physical Systems

2008

z. 7

59--62

Localization and mapping is essential task in autonomous mobile robotics. There is a number of methods dealing with the task. The method called Potential-Based Scan Matching uses proximity sensor data and does not require the odometry readings for successful localization. The method is resistant towards the noise in proximity sensors. This paper is focused on testing the method in dynamically changing environment. Tests were performed for variable size of obstacles and speed of its motion.