On the Problems of SLAM Simulation for Mobile Robots in the Arctic Conditions

被引：0

作者：

Chebotareva, Elvira ^{[1
]}

Tsoy, Tatyana ^{[1
]}

Abbyasov, Bulat ^{[1
]}

Mustafina, Jamila ^{[2
]}

Martinez-Garcia, Edgar A. ^{[3
]}

Bai, Yang ^{[4
]}

Svinin, Mikhail ^{[4
]}

机构：

[1] Kazan Fed Univ, Higher Inst Informat Technol & Intelligent Syst, Intelligent Robot Dept, Lab Intelligent Robot Syst LIRS, Kazan, Russia

[2] Kazan Fed Univ, Naberezhnye Chelny Inst, Kazan, Russia

[3] Univ Autonoma Ciudad Juarez, Inst Engn & Technol, Lab Robot, Juarez, Mexico

[4] Ritsumeikan Univ, Coll Informat Sci & Engn, Kyoto, Japan

来源：

INTERACTIVE COLLABORATIVE ROBOTICS, ICR 2020 | 2020年 / 12336卷

基金：

日本科学技术振兴机构; 俄罗斯基础研究基金会;

关键词：

SLAM; Arctic; ROS; Gazebo; Hector SLAM; ORB-SLAM2; RTAB-Map; SIMULTANEOUS LOCALIZATION;

D O I：

10.1007/978-3-030-60337-3_4

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Autonomous robots in the Arctic cover a number of strategically important tasks, including climate research, reconnaissance, transportation, material delivery, search and rescue. These goals require adapting standard navigation, localization and mapping algorithms to the harsh Arctic conditions, which do not allow their straightforward usage. The paper describes main problems of using simultaneous localization and mapping (SLAM) algorithms in the Arctic region and formulate requirements for the Arctic landscape simulator. With regard to these requirements we constructed Arctic terrains in Gazebo simulator, which implemented three of the eight proposed Arctic features, and studied behavior of ROS implementations of GMapping, Hector SLAM, ORB-SLAM2 and RTAB-Map SLAM algorithms within the obtained terrains.

引用

页码：34 / 44

页数：11

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