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] CDTA, Automat & Robot Div, NCRM Team, Cite 20 Aout 1956,BP 17, Algiers, Algeria

来源：

PROCEEDINGS OF THE 17TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR) | 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：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

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] to become faster. 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. Therefore, the ICP-SLAM is not recommended to use in real time for large environments. 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].

引用

页码：611 / 616

页数：6

共 18 条

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