FAST ICP-SLAM for a Bi-steerable Mobile Robot in large environments

被引：0
|
作者：
Tiar, R. [1 ]
Lakrouf, M. [1 ]
Azouaoui, O. [1 ]
机构：
[1] Ctr Dev Technol Avancees, Automat 8z Robot Div, NCRM Team, Algiers, Algeria
来源：
2015 IEEE INTERNATIONAL WORKSHOP OF ELECTRONICS, CONTROL, MEASUREMENT, SIGNALS AND THEIR APPLICATION TO MECHATRONICS (ECMSM) | 2015年
关键词：
ICP-SLAM; scan matching; LRF range data; large environments; measures alignment; Robucar;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes the implementation of a local ICP-SLAM (Iterative Closest Point - Simultaneous Localization and Mapping) to improve the method presented in [1]. The ICP algorithm is known as a method that requires more computation time when the environment grows leading to poor results for both localization and mapping. To overcome this problem, a local ICP-SLAM is introduced which is based on the partition of the environment on smaller parts. This method is implemented and tested on the car-like mobile robot "Robucar". It allows the optimization of the computation time and localization accuracy. The experimental results show the effectiveness of the proposed local ICP-SLAM compared to the method in [1].
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页数：6
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