A simple, cost-effective and practical implementation of SLAM using ROS and Arduino

Adrián Lendínez Ibáñez
,
Renxi Qiu
,
Dayou Li

Research Output: Chapter in Book/Report/Conference proceeding Conference contribution Peer-review

Abstract

This paper aims to introduce the reader to the Simultaneous Localization and Mapping (SLAM) problem in the context of robot mapping by providing a real, simple and powerful implementation using the Robot Operating System (ROS) framework and Arduino technology. In addition to this, a modest, yet convenient, theoretical explanation of the algorithm (Rao-Blackwellization particle filter) used, is included. The creation of an inexpensive differential drive robot for this purpose is detailed along with the experiments conducted with the platform to map domestic environments. This work is targeted to students willing to get familiar with the presented subject by giving them the means to construct and code their own robot for 2D mapping.

Publication Information

Output type

Research Output: Chapter in Book/Report/Conference proceeding Conference contribution Peer-review

Original language

English

Pages from-to (Number of pages)

Pages 835-840

Publication milestones

Published - 01/02/2018

Publication status

Published - 01/02/2018

Publisher

Institute of Electrical and Electronics Engineers Inc., United States

ISBN (Print)

9781538630655

External Publication IDs

handle.net: 10547/623858
Scopus: 85047387014

Host publication title

2017 IEEE International Conference on Internet of Things (iThings) and IEEE Green Computing and Communications (GreenCom) and IEEE Cyber, Physical and Social Computing (CPSCom) and IEEE Smart Data (SmartData)