Implementation 2D EKF-based simultaneous localisation and mapping for mobile robot
File(s)
Accepted version
Author(s)
Saputra, Roni Permana
Type
Working Paper
Abstract
The main goal of this project is that the basic EKF-based SLAM operation can
be implemented sufficiently for estimating the state of the UGV that is
operated in this real environment involving dynamic objects. Several problems
in practical implementation of SLAM operation such as processing measurement
data, removing bias measurement, extracting landmarks from the measurement
data, pre-filtering extracted landmarks and data association in the observed
landmarks are observed during the operation of EKF-based SLAM system . In
addition, the comparison of EKF-based SLAM operation with dead reckoning
operation and Global Positioning System (GPS) are also performed to determine
the effectiveness and performance of EKF-based SLAM operation in the real
environment.
be implemented sufficiently for estimating the state of the UGV that is
operated in this real environment involving dynamic objects. Several problems
in practical implementation of SLAM operation such as processing measurement
data, removing bias measurement, extracting landmarks from the measurement
data, pre-filtering extracted landmarks and data association in the observed
landmarks are observed during the operation of EKF-based SLAM system . In
addition, the comparison of EKF-based SLAM operation with dead reckoning
operation and Global Positioning System (GPS) are also performed to determine
the effectiveness and performance of EKF-based SLAM operation in the real
environment.
Date Issued
2019-05-16
Citation
2019
Publisher
arXiv
Copyright Statement
© 2019 The Author(s)
Identifier
http://arxiv.org/abs/1905.06529v1
Subjects
cs.RO
cs.RO
Publication Status
Published