2A1-O09 Development of SLAM algorithm with hybrid mapping based on occupancy grid map and graph structure(Localization and Mapping)
S. Yamanaka, Kazuyuki Morioka · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2011
This paper proposes a novel SLAM algorithm. Fast SLAM based on grid mapping need to build a grid map and perform matching in each particle. Generally, the mobile robot must move slowly while online SLAM because it takes much processing time for estimating grid maps. In this paper, SLAM algorithm with hybrid mapping based on occupancy grid map and graph structure is developed. The first experimental results in indoor environments such as corridor are shown.