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Mobile robotic platform for simultaneous localization and mapping (SLAM) experiments based on range sensors

Abstract:

The general objective of the project consisted in the design of mobile robotic platform that allows to perform 2d SLAM experiments with range sensors, for this purpose a probabilistic approach was used with estimation techniques and Bayesian filters. On the other hand, we also investigated the elements (hardware) that allow to develop this project. Using a range sensing sensor in conjunction with a Raspberry Pi 3 as a robot brain and a modified commercial robotic platform as a base structure, RasPi_mBot was developed and through packages in the robotic operating system called Hector_Slam and Gmapping_slam were run simultaneous localization and mapping experiments in controlled environments.