| Title: | GS9-3 Russian mobile robot Servosila Engineer: designing an optimal integration of an extra laser range finder for SLAM purposes |
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| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 204-207 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.GS9-3 |
| Author(s): | Neil Alishev, Roman Lavrenov, Yuriy Gerasimov |
| Publication Date: | February 2, 2018 |
| Keywords: | Robotics, algorithm, ground mobile robot, SLAM, LRF, ROS, RViz, experiments |
| Abstract: | In our current research we determine an optimal design for integration of Hokuyo UTM-30LX-EW LRF into control system of Russian mobile robot Servosila Engineer. We designed and constructed a special static stand with an option to select an inclination of a scanning beam toward the surface of an environment. RBPF SLAM algorithm was tested to perform localization and mapping. Experiments were conducted in order to determine the best configuration of the LRF position and RBPF SLAM algorithm parameters. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/GS_pdf/GS9/GS9-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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