Algorithms for maps construction and localization in a mobile robot

Daniel Rojas; Ginno Millán; Fernando Passold; Román Osorio; Claudio Cubillos; Gastón Lefranc

doi:10.24846/v23i2y201407

Algorithms for maps construction and localization in a mobile robot

Daniel Rojas, Ginno Millán, Fernando Passold, Román Osorio, Claudio Cubillos, Gastón Lefranc

SCHOOL OF COMPUTER ENGINEERING

Research output: Contribution to journal › Article › peer-review

7 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 language	English
Pages (from-to)	189-196
Number of pages	8
Journal	Studies in Informatics and Control
Volume	23
Issue number	2
DOIs	https://doi.org/10.24846/v23i2y201407
State	Published - 2014

Keywords

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

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10.24846/v23i2y201407

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title = "Algorithms for maps construction and localization in a mobile robot",

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.",

keywords = "FastSLAM, Mobile robot, Simultaneous localization and mapping (SLAM), Vector field histogram (VHF) algorithm",

author = "Daniel Rojas and Ginno Mill{\'a}n and Fernando Passold and Rom{\'a}n Osorio and Claudio Cubillos and Gast{\'o}n Lefranc",

note = "Funding Information: This study was supported by Agence Nationale de Recherches sur le SIDA et les Hepatites (ANRS) , France; contract ANRS12-12 . M. A. Jenabian is supported by a CANFAR/CTN postdoctoral fellowship. ",

year = "2014",

doi = "10.24846/v23i2y201407",

language = "English",

volume = "23",

pages = "189--196",

journal = "Studies in Informatics and Control",

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T1 - Algorithms for maps construction and localization in a mobile robot

AU - Rojas, Daniel

AU - Millán, Ginno

AU - Passold, Fernando

AU - Osorio, Román

AU - Cubillos, Claudio

AU - Lefranc, Gastón

N1 - Funding Information: This study was supported by Agence Nationale de Recherches sur le SIDA et les Hepatites (ANRS) , France; contract ANRS12-12 . M. A. Jenabian is supported by a CANFAR/CTN postdoctoral fellowship.

PY - 2014

Y1 - 2014

N2 - 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.

AB - 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.

KW - FastSLAM

KW - Mobile robot

KW - Simultaneous localization and mapping (SLAM)

KW - Vector field histogram (VHF) algorithm

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DO - 10.24846/v23i2y201407

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SP - 189

EP - 196

JO - Studies in Informatics and Control

JF - Studies in Informatics and Control

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ER -

Algorithms for maps construction and localization in a mobile robot

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Keywords

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