Design of Autonomous Navigation system for Mobile Robot using vSLAM Algorithm and Distributed Filter techniques

Abstract: Simultaneous localization and mapping (SLAM) algorithm for mobile robots is a feature problem in the field of robotics. The determination of the SLAM problems also has gained significant research momentum in recent times. In this paper, a low cost and robust navigation system that can guide the autonomous mobile robots in known as well as unknown environment is presented. Simultaneous Localization and Mapping means the robot can simultaneously determine its position and reconstruct the surrounding environment. In this paper, vision-based SLAM method to improve navigation performance of mobile robot has been used, which has used two encoders to calculate its position. To overcome this limitation, of obtaining navigation information from GPS navigation, DR (Dead Reckoning) system is required. The navigation error is also increased in DR system because of accumulation of sensor error and noise.