IJIMT 2013 Vol.4(5): 498-501 ISSN: 2010-0248
DOI: 10.7763/IJIMT.2013.V4.450

SONAR Validation for SLAM

Akshay Kumar Shastry, Sanjay Anand, V. Chaitra, K. Uma Rao, and D. R. Akshay
Abstract— SlAM stands for simultaneous localization and area mapping. It deals with mapping areas which are uncharted or are not easily accessible in a given environment as well as updating currently available maps, while at the same time keeping track of the current location using the map generated. This is often used with autonomous robots and unmanned vehicles, to map hostile or unfriendly or unknown environments. Commonly used SLAM hardware is very expensive. This work deals with optimizing economic constraints and quality with minimum trade-off between the two. This is done using open source software and limited number of sensors, which makes the prototype very easy to implement. It also uses a very easy, straight forward algorithm to map the surroundings using sonar. We’ve restricted the movement of the autonomous vehicle without compromising on the quality of the map generated.

Index Terms— Mapping, localization, SONAR, open source.

Akshay Kumar Shastry, Sanjay Anand, and V. Chaitra are with the K.S Institute of Technology, Bangalore, affiliated to Visveswaraya Technological University (e-mails: findthisgreatguy@gmail.com). Uma Rao K. is with the Department of Electrical & Electronics Engineering, R.V. College of Engineering, Bangalore.

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Cite: Akshay Kumar Shastry, Sanjay Anand, V. Chaitra, K. Uma Rao, and D. R. Akshay, " SONAR Validation for SLAM," International Journal of Innovation, Management and Technology vol. 4, no. 5, pp. 498-501, 2013.

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