An RPLiDAR based SLAM equipped with IMU for Autonomous Navigation of Wheeled Mobile Robot

Abstract

Accurate navigation capability is one of the essential features required to be present in the modern-day mobile robotics. In this regard special challenges are presented by environments where external mapping aid is absent. This paper presents a LiDAR based Simultaneous Localization and Mapping (LiDAR-SLAM) technique to enable an omni directional mobile robot to successfully navigate and create a 2D map of a GPS/GNSS denied environment. The presented SLAM technique is utilizing LiDAR together with IMU sensor data combined with odometry to simultaneously identify the sensor and produce an orderly map of its surroundings.