论文信息 - Real Time Simultaneous Localisation and Mapping for the Player Project

Real Time Simultaneous Localisation and Mapping for the Player Project

This paper presents the development of a real time Simultaneous Localisation and Mapping (SLAM) application for generic robot platforms using Player, called the Real Time SLAM Proxy (RSP). The Extended Kalman Filter (EKF) and Multiple Particle Filter (MPF) SLAM algorithms are implemented in RSP, and experimental results are provided. RSP is intended for nonholonomic robots that operate in 2-D outdoor environments where landmarks can be modelled by cylindrical features and detected using laser rangefinders.

Karl Stol | Bruce A. MacDonald | Yung-Hsun Yang

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