Implementação de Uma Solução para SLAM em 2D usando Scanner a Laser e Correspondência entre as Linhas do Ambiente

Abstract

In mobile robotics, Simultaneous Localization And Mapping (SLAM) has the goal of estimating the pose (position and orientation) of a robot while mapping the environment where the robot travels. In this paper a solution for solving the SLAM problem is discussed and tested for simulated and real mobile robots which move in a 2D environment and are equipped with a 2D laser scanner. The implemented solution contains three main steps. In the first step, 2D line segments are extracted from the raw data generated by the laser scanner at each robot stop. Then line matching between consecutive poses is used to produce the new pose estimate and to add the new line segments to the global map. In the second step, line segments in the global map are merged whenever possible. Loop closure is implemented in the third step to avoid error accumulation for the positioning of the lines that represent the environment. The proposed solution was tested in simulated and real environments with sizes around 14 x 3 m2.