Proceedings of the 3rd International Conference on Integrated Intelligent Computing Communication & Security (ICIIC 2021)

Implementation of ICP Slam Algorithm on Fire Bird V for Mapping of an Indoor Environment

Authors
S I Arpitha Shankar, M. Shivakumar, K.R Prakash
Corresponding Author
S I Arpitha Shankar
Available Online 13 September 2021.
DOI
https://doi.org/10.2991/ahis.k.210913.082How to use a DOI?
Keywords
Iterative Closest Point, Mapping, Simultaneous Localization & Mapping, Self localization
Abstract

Mapping and Exploration are the fundamental tasks in many mobile robotic applications such as warehouse management, search and rescue operations in disaster scenarios, service robotics, patrolling and autonomous driving. Single robots are employed in the above-said tasks to model the environment accurately and perform complex autonomous navigation tasks. Due to robustness and fault-tolerant nature, multi-robot systems are preferred over single robots for exploration tasks. Each robot in the multi-robot system explores and builds the maps of the environment individual and merges the different robots’ maps to build a global map. To create a map of an unknown environment, each robot should perform SLAM. Simultaneous Localization and Mapping (SLAM) is widely used in mobile robots for self-localization and mapping the environment. The ICP (Iterative Closest Point) is one of the best approaches for SLAM. The implementation of ICP-SLAM for multi-robot systems to map the indoor environment is described here. This method is tested on the Firebird V robot equipped with RPLiDAR.

Copyright
© 2021, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 3rd International Conference on Integrated Intelligent Computing Communication & Security (ICIIC 2021)
Series
Atlantis Highlights in Computer Sciences
Publication Date
13 September 2021
ISBN
978-94-6239-428-5
ISSN
2589-4900
DOI
https://doi.org/10.2991/ahis.k.210913.082How to use a DOI?
Copyright
© 2021, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - S I Arpitha Shankar
AU  - M. Shivakumar
AU  - K.R Prakash
PY  - 2021
DA  - 2021/09/13
TI  - Implementation of ICP Slam Algorithm on Fire Bird V for Mapping of an Indoor Environment
BT  - Proceedings of the 3rd International Conference on Integrated Intelligent Computing Communication & Security (ICIIC 2021)
PB  - Atlantis Press
SP  - 647
EP  - 651
SN  - 2589-4900
UR  - https://doi.org/10.2991/ahis.k.210913.082
DO  - https://doi.org/10.2991/ahis.k.210913.082
ID  - ArpithaShankar2021
ER  -