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Ayadi N, Derbel N, Morette N, Novales C, Poisson G. Simulation and Experimental Evaluation of the EKF Simultaneous Localization and Mapping Algorithm on the Wifibot Mobile Robot. JOURNAL OF ARTIFICIAL INTELLIGENCE AND SOFT COMPUTING RESEARCH 2018. [DOI: 10.1515/jaiscr-2018-0006] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022] Open
Abstract
Abstract
In recent years, autonomous navigation for mobile robots has been considered a highly active research field. Within this context, we are interested to apply the Simultaneous Localization And Mapping (SLAM) approach for a wheeled mobile robot. The Extended Kalman Filter has been chosen to perform the SLAM algorithm. In this work, we explicit all steps of the approach. Performances of the developed algorithm have been assessed through simulation in the case of a small scale map. Then, we present several experiments on a real robot that are proceeded in order to exploit a programmed SLAM unit and to generate the navigation map. Based on experimental results, simulation of the SLAM method in the case of a large scale map is then realized. Obtained results are exploited in order to evaluate and compare the algorithm’s consistency and robustness for both cases.
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Affiliation(s)
- Noura Ayadi
- Department of Electrical Engineering , National School of Engineering , B.W 3038 , Sfax , Tunisia
| | - Nabil Derbel
- Department of Electrical Engineering , National School of Engineering , B.W 3038 , Sfax , Tunisia
| | | | - Cyril Novales
- PRISME Institute , 63, Lattre de Tassigny, Bourges , France
| | - Gérard Poisson
- PRISME Institute , 63, Lattre de Tassigny, Bourges , France
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Pedraza L, Rodriguez-Losada D, Matia F, Dissanayake G, Miro J. Extending the Limits of Feature-Based SLAM With B-Splines. IEEE T ROBOT 2009. [DOI: 10.1109/tro.2009.2013496] [Citation(s) in RCA: 42] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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Rodriguez-Losada D, San Segundo P, Matia F, Pedraza L. Dual FastSLAM: Dual Factorization of the Particle Filter Based Solution of the Simultaneous Localization and Mapping Problem. J INTELL ROBOT SYST 2008. [DOI: 10.1007/s10846-008-9296-4] [Citation(s) in RCA: 9] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
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Fast exact feature based data correspondence search with an efficient bit-parallel MCP solver. APPL INTELL 2008. [DOI: 10.1007/s10489-008-0147-6] [Citation(s) in RCA: 19] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/25/2022]
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