A Generalized Odometry for Implementation of Simultaneous Localization and Mapping for Mobile Robots

Kethavath Raj Kumar

Abstract

This paper proposes a novel method for calculation of generalized Odometry using velocities from Light Detection and Ranging (LiDAR) and Inertial Measurement Unit (IMU), discounting velocities from motor encoder values. Further, the estimated velocities are used for the calculation of Odometry using rigid body Newtonian equations. The generalized Odometry and laser scans are used for implementation of the particle filter Simultaneous Localization and Mapping (SLAM) algorithm. This method overcomes errors due to slippages in mobile robots. The outputs of SLAM maps are experimentally validated in both straight and curved trajectories with reference to ground truth maps. SLAM results obtained from the proposed method Odometry is better than the only LiDAR, IMU and Encoder Odometry in an indoor environment for autonomous navigation of mobile robots.

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Paper Citation


in Harvard Style

Raj Kumar K. (2019). A Generalized Odometry for Implementation of Simultaneous Localization and Mapping for Mobile Robots.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 395-400. DOI: 10.5220/0007922603950400


in Bibtex Style

@conference{icinco19,
author={Kethavath Raj Kumar},
title={A Generalized Odometry for Implementation of Simultaneous Localization and Mapping for Mobile Robots},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={395-400},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007922603950400},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Generalized Odometry for Implementation of Simultaneous Localization and Mapping for Mobile Robots
SN - 978-989-758-380-3
AU - Raj Kumar K.
PY - 2019
SP - 395
EP - 400
DO - 10.5220/0007922603950400