Mobile robot navigation based on interactive SLAM with an intelligent space

摘要

Several methods of SLAM have been proposed. One of them is called Fast-SLAM based on Particle Filter. Especially, on the map construction based on a grid map is one of methods to improve accuracy of SLAM. However, those methods use only sensing data from the mobile robot to achieve SLAM. In this study, a new method of SLAM, which uses laser range sensors fixed in an intelligent space, is introduced. This method shares information with SLAM of mobile robot. Laser scan results by the mobile robot are compared with map built by the distributed laser scanners in the intelligent space in addition to normal FastSLAM. As a result, more accurate map can be built by cooperative SLAM with the intelligent space.