Performance Evaluation of the Grid-based FastSLAM in V-RFP Using MATLAB

Date

2018-02-24

Author

Azak, Salim

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

66
views

0
downloads

This paper presents a Simultaneous Localization and Mapping (SLAM) application that is developed in V-REP robot simulation program by using Grid-Based FastSLAM method. In this work, the SLAM problem in an unknown indoor environment is solved with the Pioneer 3 DX mobile robot equipped with a laser range finder. Control scripts are developed in the Lua and FastSLAM scripts using MATLAB that is linked to the simulation platform by means of the Remote API feature of the V-REP. In order to evaluate of the performance of the FastSLAM, a number of tests have been conducted. Effects of the changing of particle numbers, changing in the error due to steep turn, changing of the number of sensor beam, cpu time for the iterations and the map error due to working time are analyzed in detail.

Subject Keywords

FastSLAM, SLAM, V-Rep, Grid-Based, Localization, Mapping

URI

https://hdl.handle.net/11511/55637

Conference Name

14th International Conference on Advanced Trends in Radioelecrtronics, Telecommunications and Computer Engineering (TCSET)

Collections

Department of Civil Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Improving the accuracy of a mobile robot for localization and mapping of an unknown environment Gümrükcü, Gülşah; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2003) This thesis deals with sensor based motion planning of a mobile robot for localization in an unknown environment. Using the developed algorithm the robot may construct the map (GVG) of any bounded environment, and the minimum distance between any two locations in the mapped environment can be determined. In addition, the accuracy of the robot, facing dead-reckoning error can be improved. With this study, the mobile robot finds the optimum path between any two locations in any bounded environment and traces ...
Performance Evaluation of Different Real-Time Motion Controller Topologies Implemented on a FPGA MUTLU, B. R.; Yaman, Ulaş; Dölen, Melik; Koku, Ahmet Buğra (2009-11-18) This paper presents a comprehensive comparison of several real-time motion controller topologies implemented on a field programmable gate array (FPGA). Controller topologies are selected as proportional-integral-derivative controller with command feedforward, sliding mode controller, fuzzy controller, and a hysteresis controller. Controllers and other necessary modules are developed using Verilog HDL and they are implemented on a ML505 development board with a Xilinx Virtex-5 FPGA chip. In order to take ful...
DUDMap: 3D RGB-D mapping for dense, unstructured, and dynamic environment Hastürk, Özgür; Erkmen, Aydan Müşerref (2021-01-01) Simultaneous localization and mapping (SLAM) problem has been extensively studied by researchers in the field of robotics, however, conventional approaches in mapping assume a static environment. The static assumption is valid only in a small region, and it limits the application of visual SLAM in dynamic environments. The recently proposed state-of-the-art SLAM solutions for dynamic environments use different semantic segmentation methods such as mask R-CNN and SegNet; however, these frameworks are based o...
Performance comparison of point and plane features for SLAM / Yörük, Mücahit; Ulusoy, İlkay; Department of Electrical and Electronics Engineering (2014) Simultaneous Localization and Mapping (SLAM) is an indispensable capability for mobile robots that explore unknown environments. This advanced method is now widely employed since the development of improvements in sensor technology, such as 3D depth cameras. To avoid the risk of the human interaction in dangerous environments, various SLAM algorithms have been developed and proposed in the literature. The aim of this study, is to develop a landmark vector that improves the SLAM performance using the planar ...
A modified algorithm for peer-to-peer security Akleylek, Sedat; Emmungil, Levent; NURİYEV, URFAT (2007-01-01) In this paper we present the steganographic approach to peer-to-peer systems with a modified algorithm. This gives the user a very high level of protection against being compelled to disclose its contents. Even the realization of the quantum computer cannot solve NP-hard problem in a polynomial time, a modified algorithm with steganographic use depending on Knapsack problem may make peer-to-peer systems secure.

Citation Formats

S. Azak, “Performance Evaluation of the Grid-based FastSLAM in V-RFP Using MATLAB,” presented at the 14th International Conference on Advanced Trends in Radioelecrtronics, Telecommunications and Computer Engineering (TCSET), Lviv, UKRAINE, 2018, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/55637.