Examining of the Effect of Geometric Objects on SLAM Performance Using ROS and Gazebo

Development effort on Autonomous mobile robots that can operate in unknown environments are ongoing order to extend the application area of robots. In navigate, an autonomous robot needs a map environment and location information relative map. Simultaneous Localization Mapping (SLAM) is prediction process which use this determine its position while building consistent The purpose study examine effect geometric objects SLAM performance. direction, three different experimental areas including equilateral triangular prisms, square prisms cylinders designed Gazebo. fourth experiment includes all used study. algorithm was tested by using TurtleBot3 Waffle Pi robot. When mapping times four were compared, it seen fastest scenario achieved within triangular-only slowest mixed prism. terms measures, closest actual measures simulated area. obtained results show shapes directly affect performance SLAM.