A Simulation System for Simultaneous Localization and Mapping of Mobile Robots

In this paper, an effective simulation system is proposed for wheeled mobile robots to verify simultaneous localization and mapping algorithms. Its components and function are described in detail. In map building, a line-based representation of the environment is adopted. Line parameters are extracted from range scans, and the corresponding covariance matrices are computed from the statistical characteristics of the raw data. The simulation system makes the design of algorithms less depend on each others and be easily used to test new algorithms. The proposed scheme is validated through numerical simulations