Solving the Indoor SLAM Problem  for a Low-Cost Robot Using
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Solving the Indoor SLAM Problem for a Low-Cost Robot Using Sensor Data Fusion and Autonomous Feature-Based Exploration. PhD Student: Prof. MSc. Luciano Buonocore (UFMA) Advisor : Prof. Dr. Cairo Lúcio Nascimento Júnior (ITA). Three software modules run in an integrated form.

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Solving the Indoor SLAM Problem for a Low-Cost Robot Using

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Solving the indoor slam problem for a low cost robot using

Solving the Indoor SLAM Problem for a Low-Cost Robot Using

Sensor Data Fusion and Autonomous Feature-Based Exploration

PhD Student: Prof. MSc. Luciano Buonocore (UFMA)

Advisor: Prof. Dr. Cairo Lúcio Nascimento Júnior (ITA)

Three software modules run in an integrated form

3 motions using

Odometric model

from goal selected

Environment features

measured

Estimated map

at the moment


Solving the indoor slam problem for a low cost robot using

  • - 3 typesofsensors:

  • Visual (wireless CAM + Laser)

  • Infrared (twounits)

  • Sonar

  • - Softwares:

  • PC: overall system intelligence

  • (SLAM filter, Data fusion and

  • Autonomous Exploration).

  • b) Robot: Mutli-Threading C code

  • that executes basic commands,

  • distance measures and some

  • status.

  • - Communication PC-robot:

  • IP Wireless.


Solving the indoor slam problem for a low cost robot using

proposed sensor data fusion algorithm

Experiment to evaluate the

mapping accuracy of the algorithm


Solving the indoor slam problem for a low cost robot using

proposed autonomous feature-based exploration

  • Basic tasks:

  • Goals select →locally (1) or environment opening (2)

  • Finish condition (of the exploration task)


Solving the indoor slam problem for a low cost robot using

Slam experiment in a small indoor environment

WITHOUT AUTONOMOUS EXPLORATION

WITH AUTONOMOUS EXPLORATION

  • RESULTS:

  • The estimated and real robot poses differences in both experiments are less than 2%.

  • The map generated by the filter are similar and consistent for navigation purpose.

  • NEXT EXPERIMENT:

  • The solution to SLAM problem is already in progress (hallway of 80 m with some loops situations) to validate the algorithms proposed.


Solving the indoor slam problem for a low cost robot using

Example of data processing in fusion algorithm for an specific robot pose


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