Experimental comparison of the Simultaneous Localization and Mapping Schemes in the Practical Environments Using the Robot Operating System

Ju-Min Kim¹, Ha Jeong Seok¹ and Chang-bae Moon^1,

¹Department of Mechanical Engineering, Chonnam National University, Gwanju, Korea

Cite this paper:
Ju-Min Kim, Ha Jeong Seok and Chang-bae Moon. Experimental comparison of the Simultaneous Localization and Mapping Schemes in the Practical Environments Using the Robot Operating System. Journal of Automation and Control. 2018; 6(1):15-18. doi: 10.12691/automation-6-1-2

Abstract

In recent days, mobile service robots have been widely developed for security, cleaning and guidance purpose. The use of open source code based on Robot Operating System (ROS) supports rapid testing and comparison of the previous developed schemes. Especially, the SLAM (Simultaneous Localization and Mapping) schemes are most useful because the SLAM schemes are requiring the previous recorded logging data from sensors, e.g., odometry and laser scanners. In this paper, we represent the simulation method using ROS and being supported SLAM schemes by ROS. The simulations carried out by using the previous recorded odometry and laser scanning data. The experimental results are presented by using the Cartographer and KARTO SLAM schemes.

Keywords:
mobile robot simultaneous localization and mapping Robot Operating System (ROS)

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References:

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