Optimization of mapping algorithm for mobile robot

Syed Abd Rahman Alzawawi, Sharifah Aida Afiqah (2020) Optimization of mapping algorithm for mobile robot. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Autonomous mobile robots can safely explore their environments without hit or crashing with anything. Simultaneous localization and mapping (SLAM) helps the robot to gain such independence by answering questions about how its environment map looks like and also where is it location. Building maps is one of mobile robots’ most fundamental tasks. Actually, the robot can build maps from the information and data collected by a mobile robot by applying a sensor like a laser sensor. The autonomous mobile robots can be located and navigate in the practical environment with the maps. The goal of this research is to investigate parameters such as grid size of the occupancy grid map algorithm and to stimulate the mapping algorithm and investigate performance based on map accuracy. Occupancy grid map is used as a map representation in this study because it can generate a discrete grid representation. This means, the robot can run on a given region in a grid to speed up the computation process. In addition, Gmapping is the SLAM algorithm used in this research as it is the most accurate method compared to other methods and it can provide a high quality performance output map.

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