SLAM Techniques Application for Mobile Robot in Rough Terrain

✍ Scribed by Andrii Kudriashov, Tomasz Buratowski, Mariusz Giergiel, Piotr Małka

• Publisher: Springer International Publishing;Springer
• Year: 2020
• Tongue: English
• Leaves: 140
• Series: Mechanisms and Machine Science 87
• Edition: 1st ed.
• Category: Library

✦ Synopsis

This book presents the development of SLAM-based mobile robot control systems as an integrated approach that combines the localization, mapping and motion control fields, and reviews several techniques that represent the basics of the mathematical description of wheeled robots, their navigation and path planning approaches, localization and map creating techniques. It examines SLAM paradigms and Bayesian recursive state and map estimation techniques, which include Kalman and particle filtering, and enable the development of a SLAM-based integrated system for the inspection task performed. The system’s development is divided into two phases: a single-robot approach and multirobot inspection system. The book describes an original approach to 2D SLAM in multi-floor buildings that covers each 2D level map, as well as continuous 3D pose tracking, and views the multirobot inspection system as a group of homogeneous mobile robots. The last part of the book is dedicated to multirobot map creation and the development of path planning solutions, which allow the robots’ homogeneous behavior and configuration to be used to develop a multirobot system without theoretical limitations on the number of robots used.

✦ Table of Contents

Front Matter ....Pages i-ix
Introduction (Andrii Kudriashov, Tomasz Buratowski, Mariusz Giergiel, Piotr Małka)....Pages 1-5
Introduction to Mobile Robots Navigation, Localization and Mapping (Andrii Kudriashov, Tomasz Buratowski, Mariusz Giergiel, Piotr Małka)....Pages 7-38
SLAM as Probabilistic Robotics Framework Approach (Andrii Kudriashov, Tomasz Buratowski, Mariusz Giergiel, Piotr Małka)....Pages 39-64
Multi-agent SLAM-Based Inspection System for Rough Terrain (Andrii Kudriashov, Tomasz Buratowski, Mariusz Giergiel, Piotr Małka)....Pages 65-94
Evaluation (Andrii Kudriashov, Tomasz Buratowski, Mariusz Giergiel, Piotr Małka)....Pages 95-126
Conclusions and Future Work Discussion (Andrii Kudriashov, Tomasz Buratowski, Mariusz Giergiel, Piotr Małka)....Pages 127-131

✦ Subjects

Engineering; Machinery and Machine Elements; Control, Robotics, Mechatronics; Computational Intelligence