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Algorithms for Maps Construction and Localization in a Mobile Robot

Daniel ROJAS1, Ginno MILLÁN2, Fernando PASSOLD3, Román OSORIO4,  Claudio CUBILLOS1, Gastón LEFRANC1

1 Pontificia Universidad Católica de Valparaíso,
Av. Brasil 2950, Valparaíso, Chile
2 Universidad Catolica del Norte,
Larrondo 1281, Coquimbo, Chile

3 Universidade de Passo Fundo, BR 285,
Bairro Passo Fundo, Sao José, Brazil
4 IIMAS, Universidad Autónoma de México
Av. Universidad 3000, México

Abstract: In this paper it is presented an integration of algorithms that permits maps construction and navigation of mobile robots. Simultaneous Localization and Mapping (SLAM) algorithm is used based on FastSLAM method. Navigation system is based on Vector Field Histogram algorithm to avoid obstacle and a spiral way trajectory method. Up to three different complex simulation maps have been used to evaluate the system.

Keywords: Mobile Robot, Vector Field Histogram (VHF) algorithm, Simultaneous Localization and Mapping (SLAM), FastSLAM.

>>Full text
Daniel ROJAS, Ginno MILLÁN, Fernando PASSOLD, Román OSORIO, Claudio CUBILLOS, Gastón LEFRANC, Algorithms for Maps Construction and Localization in a Mobile Robot, Studies in Informatics and Control, ISSN 1220-1766, vol. 23(2), pp. 189-196, 2014.