A SLAM algorithm for indoor mobile robot localization using an Extended Kalman filter and a segment based environment mapping

Author

D´Alfonso, Luigi ; Griffo, Antonio ; Muraca, Pietro ; Pugliese, Paolo

Author_Institution

DIMES, Univ. della Calabria, Rende, Italy

fYear

2013

Firstpage

1

Lastpage

6

Abstract

The present paper faces the Simultaneous Localization And Mapping (SLAM) problem for a mobile robot in an unknown indoor environment. A set of segments is used to model the robot surrounding environment and segments´ starting and ending points are used as SLAM landmarks. A segment based mapping algorithm is proposed and used along with an Extended Kalman filter driven by measurements taken by ultrasonic sensors located on the robot. The proposed SLAM algorithm has been tested in both simulated and real experiments yielding to encouraging estimation and mapping results.

Keywords

Kalman filters; SLAM (robots); mobile robots; nonlinear filters; ultrasonic transducers; Extended Kalman filter; SLAM algorithm; SLAM landmarks; environment mapping; indoor mobile robot localization; robot surrounding environment; simultaneous localization and mapping; ultrasonic sensors; unknown indoor environment; Covariance matrices; Mathematical model; Mobile robots; Simultaneous localization and mapping;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics (ICAR), 2013 16th International Conference on

Conference_Location

Montevideo

Type

conf

DOI

10.1109/ICAR.2013.6766461

Filename

6766461