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Article title LOCAL NAVIGATION AND MAPPING ALGORITHMS FOR THE ONBOARD CONTROL SYSTEM OF AUTONOMOUS MOBILE ROBOT
Authors R.V. Kuchersky, S.V. Man’ko
Section SECTION I. THE ROBOTICS
Month, Year 03, 2012 @en
Index UDC 004.896:621.86
DOI
Abstract The principles of local navigation and mapping system construction are justified in this article, a comparative performance and accuracy characteristics of systems based on an extended Kalman filter and FastSLAM algorithms analysis is held. Here are presented results of modeling the cavities building structures mapping process by autonomous mobile robot equipped with extended Kalman filter based local navigation and cartography system. The selection of FastSLAM method for deeper research, field experiments conduction and analysis of possibility to create a multi-agent robotic co-operative areamapping system based on the method explained.

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Keywords Local navigation system; SLAM (Simultaneous Localization And Mapping); extended Kalman filter (EKF); FastSLAM.
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