Title :
ICP-SLAM methods implementation on a bi-steerable mobile robot
Author :
Tiar, R. ; Ouadah, N. ; Azouaoui, O. ; Djehaich, M. ; Ziane, H. ; Achour, Nouara
Author_Institution :
Centre de Dev. des Technol. Av., NCRM Team, Algiers, Algeria
Abstract :
Scan matching is a popular way of recovering a mobile robot´s motion and constitutes the basis of many localization and mapping approaches. The work presented in this paper consists in the implementation of a SLAM method (Simultaneous Localization and Mapping) based on the Iterative Closest Points (ICP) algorithm on the Robucar, a car-like mobile robot. Two variants are considered related to the error metric minimization. These variants of ICP-SLAM have been implemented and tested on the robot for performance´s comparison.
Keywords :
SLAM (robots); iterative methods; mobile robots; path planning; ICP-SLAM methods implementation; Robucar; bisteerable mobile robot; car like mobile robot; error metric minimization; iterative closest points; mobile robot motion; robot navigation; scan matching; simultaneous localization and mapping; Convergence; Iterative closest point algorithm; Measurement; Mobile robots; Simultaneous localization and mapping; ICP-SLAM; Robucar; measures alignment; scan matching;
Conference_Titel :
Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM), 2013 IEEE 11th International Workshop of
Conference_Location :
Toulouse
DOI :
10.1109/ECMSM.2013.6648973
