Efficient Non-Odometry Method for Environment Mapping and Localisation of Mobile Robots

Adamowicz, Mateusz; Ambroziak, Leszek; Kondratiuk, Mirosław

doi:10.2478/ama-2021-0004

Abstract

The paper presents the simple algorithm of simultaneous localisation and mapping (SLAM) without odometry information. The proposed algorithm is based only on scanning laser range finder. The theoretical foundations of the proposed method are presented. The most important element of the work is the experimental research. The research underlying the paper encompasses several tests, which were carried out to build the environment map to be navigated by the mobile robot in conjunction with the trajectory planning algorithm and obstacle avoidance.

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Efficient Non-Odometry Method for Environment Mapping and Localisation of Mobile Robots

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