| Title: | OS1-4 Robustness Analysis of SLAM Algorithm in Simulation Environment of Gazebo |
|---|---|
| Publication: | ICAROB2020 |
| Volume: | 25 |
| Pages: | 724-727 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2020.OS1-4 |
| Author(s): | Jiwu Wang, Yafan Liu |
| Publication Date: | January 13, 2020 |
| Keywords: | Gazebo, Gmapping SLAM, Kinematic simulation of Turtlebot3 |
| Abstract: | The SLAM algorithm applied to mobile robots is mainly used in complex and variable unknown environments. Therefore, in order to reduce the experimental cost and improve the robustness of the SLAM algorithm, it is necessary to test the SLAM algorithm in the virtual simulation environment before the robot enters the actual working conditions. The Gazebo used in this paper is a three-dimensional multi-robot dynamics simulation system, which can provide high-fidelity physical simulation environment and a complete set of robot sensor models for SLAM testing. In this paper, our method perform simulation tests on the Gmapping SLAM algorithm applied on the Turtlebot3 robot, and obtain experimental data and compare them. Then, according to the experimental results, we propose corresponding improvement suggestions for Gmapping algorithm. |
| PDF File: | https://alife-robotics.co.jp/members2020/icarob/data/html/data/OS/OS1/OS1-4.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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