loading
Papers

Research.Publish.Connect.

Paper

Author: Kethavath Raj Kumar

Affiliation: Intelligent Systems and Robotics Division, Centre for Artificial Intelligence and Robotics and India

ISBN: 978-989-758-380-3

Keyword(s): SLAM, Odometry, LiDAR, IMU, Particle Filter, Mobile Robot.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Real-Time Systems Control ; Robotics and Automation ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control ; Vehicle Control Applications

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.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.83.32.171

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
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

@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},
}

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

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.