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2017 | OriginalPaper | Chapter

Development of Rao-Blackwellized Particle Filter (RBPF) SLAM Algorithm Using Low Proximity Infrared Sensors

Authors : Norhidayah Mohamad Yatim, Norlida Buniyamin

Published in: 9th International Conference on Robotic, Vision, Signal Processing and Power Applications

Publisher: Springer Singapore

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Abstract

Simultaneous Localization and Mapping (SLAM) algorithm are often developed using accurate sensor such as laser rangefinder. However, recently more consumer-oriented robots are usually equipped with low-end sensor such as low-proximity infrared sensor due to its lower cost. This has motivated this research work to implement RBPF-SLAM algorithm using infrared sensor only. Despite of the sparseness and noisiness characteristics of infrared sensor, it is used as the only robot’s perception in the RBPF-SLAM algorithm developed. The performance of this algorithm is investigated and analyzed. The result shows a decent and satisfactory map.

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Metadata
Title
Development of Rao-Blackwellized Particle Filter (RBPF) SLAM Algorithm Using Low Proximity Infrared Sensors
Authors
Norhidayah Mohamad Yatim
Norlida Buniyamin
Copyright Year
2017
Publisher
Springer Singapore
Book
9th International Conference on Robotic, Vision, Signal Processing and Power Applications

Print ISBN: 978-981-10-1719-3

Electronic ISBN: 978-981-10-1721-6

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-981-10-1721-6_43