RESEARCH PAPER
Efficient Non-Odometry Method for Environment Mapping and Localisation of Mobile Robots
1
Department of Robotics and Mechatronics, Faculty of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland
Submission date: 2020-10-13
Acceptance date: 2021-04-19
Online publication date: 2021-05-15
Publication date: 2021-03-01
Acta Mechanica et Automatica 2021;15(1):24-29
KEYWORDS
ABSTRACT
The paper presents the simple algorithm of simultaneous localisation and mapping (SLAM) without odometry information. The proposed algorithm is based only on scanning laser range finder. The theoretical foundations of the proposed method are presented. The most important element of the work is the experimental research. The research underlying the paper encompasses several tests, which were carried out to build the environment map to be navigated by the mobile robot in conjunction with the trajectory planning algorithm and obstacle avoidance.
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| eISSN: | 2300-5319 |
| ISSN: | 1898-4088 |
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