A Simple, Cost-Effective and Practical Implementation of SLAM Using ROS and Arduino

摘要

This paper aims to introduce the reader to the Simultaneous Localization and Mapping (SLAM) problem in the context of robot mapping by providing a real, simple and powerful implementation using the Robot Operating System (ROS) framework and Arduino technology. In addition to this, a modest, yet convenient, theoretical explanation of the algorithm (Rao-Blackwellization particle filter) used, is included. The creation of an inexpensive differential drive robot for this purpose is detailed along with the experiments conducted with the platform to map domestic environments. This work is targeted to students willing to get familiar with the presented subject by giving them the means to construct and code their own robot for 2D mapping.