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Development of Mobile Robot SLAM Based on ROS

Zhen An, Lina Hao, Yu Liu, and Li Dai
College of Mechanical Engineering and Automation, Shenyang, China

Abstract—With the continuous development of intelligent robotics, intelligent robot can realize autonomous moving. Robot simultaneous localization and mapping technology arises at the historic moment. Adaptive monte carlo localization algorithm was used for mobile robot pose estimation. Bayesian algorithm was used to building grid map. The robot moving path was computed by the path planner algorithm. The mobile robot follows the path and realizes autonomous moving function. ROS platform was used for tracked mobile robot to realize the SLAM technology. Compared with conventional software development platform, ROS have strong focus on usability and ease of installation and have the advantages of free and open source. The experimental results demonstrated that ROS platform could greatly shorten the development cycle of the robot and the SLAM could easily realize on ROS, the robot can realize autonomous moving.

Index Terms—ROS, SLAM, tracked mobile robot, path planner

Cite: Zhen An, Lina Hao, Yu Liu, and Li Dai, "Development of Mobile Robot SLAM Based on ROS," International Journal of Mechanical Engineering and Robotics Research, Vol. 5, No. 1, pp. 47-51, January 2016. DOI: 10.18178/ijmerr.5.1.47-51