Real-Time Systems An Exploration of Mapping Algorithms for Autonomous Robotic Mapping
نویسنده
چکیده
This paper discusses algorithms for simultaneous localization and mapping (SLAM). Advantages of each major type of algorithm, probabilistic and incremental, are presented. Hybrid approaches and their possibilities are discussed. An explanation of a proper algorithm selection method has been provided. The example of an urban search and rescue (USAR) robot is used to show this selection method. This example is carried further through the presentation of a method for integration in such a robot. The complexity of a SLAM system is shown and expounded upon.
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تاریخ انتشار 2005