Research Article Open Access

Mobile Robot: SLAM Implementation for Unknown Indoor Environment Exploration

Mohamed Emharraf1, Mohammed Bourhaleb1, Mohammed Saber1 and Mohammed Rahmoun1
  • 1 University MOHAMMED 1st (UMPO), Morocco
Journal of Computer Science
Volume 12 No. 2, 2016, 106-112

DOI: https://doi.org/10.3844/jcssp.2016.106.112

Published On: 26 March 2016

How to Cite: Emharraf, M., Bourhaleb, M., Saber, M. & Rahmoun, M. (2016). Mobile Robot: SLAM Implementation for Unknown Indoor Environment Exploration. Journal of Computer Science, 12(2), 106-112. https://doi.org/10.3844/jcssp.2016.106.112

Abstract

The autonomy is the most crucial criteria in mobile robots. This operation aims to offer the ability of finding the position and build a map of the environment to the robot. Many methods have been proposed to solve this problem. In this study, an implementation of SLAM approach for unknown indoor environment exploring by mobile robot is proposed. In fact, the proposed approach touch on the unknown indoor environments exploring with static obstacles, based on robot mobile abilities (extereoceptive and proprioceptive sensors). In one hand, the measurements given by the proprioceptive sensor (odometry) are used for the auto localization system. In the other hand, the map building based on extereoceptive sensor scanning and robot position. Therefore, the approach maintains two maps: (1) (OM) map grid describe the occupancy of environment; (2) (TM) map grid memorizes the robot former positions. Furthermore, the use of the proposed maps afford an efficient description and exploitation of the environment resources over time. Finally, the results in simulation and real robots experiments using random exploration (for test), demonstrate the fusibility of the proposed approach.

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Keywords

  • SLAM
  • Autonomous Robot Mobile
  • Self-Localization
  • Unknown Indoor Environment
  • Map Building