1. bookVolume 8 (2018): Issue 2 (April 2018)
Journal Details
License
Format
Journal
First Published
30 Dec 2014
Publication timeframe
4 times per year
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English
access type Open Access

Simulation and Experimental Evaluation of the EKF Simultaneous Localization and Mapping Algorithm on the Wifibot Mobile Robot

Published Online: 01 Nov 2017
Page range: 91 - 101
Received: 24 Jan 2017
Accepted: 24 Mar 2017
Journal Details
License
Format
Journal
First Published
30 Dec 2014
Publication timeframe
4 times per year
Languages
English

In recent years, autonomous navigation for mobile robots has been considered a highly active research field. Within this context, we are interested to apply the Simultaneous Localization And Mapping (SLAM) approach for a wheeled mobile robot. The Extended Kalman Filter has been chosen to perform the SLAM algorithm. In this work, we explicit all steps of the approach. Performances of the developed algorithm have been assessed through simulation in the case of a small scale map. Then, we present several experiments on a real robot that are proceeded in order to exploit a programmed SLAM unit and to generate the navigation map. Based on experimental results, simulation of the SLAM method in the case of a large scale map is then realized. Obtained results are exploited in order to evaluate and compare the algorithm’s consistency and robustness for both cases.

Keywords

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