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http://bura.brunel.ac.uk/handle/2438/27447| Title: | Evaluation of SLAM Algorithms for Search and Rescue Applications |
| Authors: | Yang, Z Naz, N Liu, P Huda, MN |
| Keywords: | search and rescue;low-cost robot;SLAM;Karto;Gmapping |
| Issue Date: | 8-Sep-2023 |
| Publisher: | Springer Nature |
| Citation: | Yang, Z. et al. (2023) 'Evaluation of SLAM Algorithms for Search and Rescue Applications', in Iida, F. et al. (eds) Towards Autonomous Robotic Systems. TAROS 2023. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) vol. 14136 LNAI, pp. 114 - 125. doi: 10.1007/978-3-031-43360-3_10. |
| Abstract: | Copyright © 2023 The Author(s). Search and rescue robots have been widely investigated to detect humans in disaster scenarios. SLAM (Simultaneous Localisation and Mapping), as a critical function of the robot, can localise the robot and create the map during the rescue tasks. In this paper, prominent 2D SLAM algorithms are investigated and three of them (Gmapping, Hector, and Karto) are implemented on a low-cost search and rescue robot to demonstrate their feasibility. Moreover, experiments containing various ground surface scenarios are performed. Maps created by various SLAM algorithms are compared to identify the best SLAM algorithm for search and rescue tasks using a low-cost robot. The experimental results suggest that Karto SLAM performs best for low-cost search and rescue robots among the three SLAM algorithms. |
| URI: | https://bura.brunel.ac.uk/handle/2438/27447 |
| DOI: | https://doi.org/10.1007/978-3-031-43360-3_10 |
| ISBN: | 978-3-031-43359-7 (pbk) 978-3-031-43360-3 (ebk) |
| ISSN: | 0302-9743 |
| Other Identifiers: | ORCID iD: M. Nazmul Huda https://orcid.org/0000-0002-5376-881X |
| Appears in Collections: | Dept of Electronic and Electrical Engineering Embargoed Research Papers |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| FullText.pdf | Embargoed until 8 September 2024 | 438.67 kB | Adobe PDF | View/Open |
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