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

fYear

2013

fDate

24-26 June 2013

Firstpage

1

Lastpage

6

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM), 2013 IEEE 11th International Workshop of

Conference_Location

Toulouse

Type

conf

DOI

10.1109/ECMSM.2013.6648973

Filename

6648973