Algorithms for maps construction and localization in a mobile robot

Daniel Rojas, Ginno Millán, Fernando Passold, Román Osorio, CLAUDIO ALONSO CUBILLOS FIGUEROA, Gastón Lefranc

Research output: Contribution to journalArticlepeer-review

4 Scopus citations

Abstract

In this paper it is presented an integration of algorithms that permits maps construction and navigation of mobile robots. Simultaneous Localization and Mapping (SLAM) algorithm is used based on FastSLAM method. Navigation system is based on Vector Field Histogram algorithm to avoid obstacle and a spiral way trajectory method. Up to three different complex simulation maps have been used to evaluate the system.

Original languageEnglish
Pages (from-to)189-196
Number of pages8
JournalStudies in Informatics and Control
Volume23
Issue number2
DOIs
StatePublished - 2014
Externally publishedYes

Keywords

  • FastSLAM
  • Mobile robot
  • Simultaneous localization and mapping (SLAM)
  • Vector field histogram (VHF) algorithm

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