VGU RESEARCH REPOSITORY
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Title: | Implementation of grid mapping method in ROS for robot mapping | Authors: | Khanh Thien Phan | Keywords: | Implementation of grid mapping method;ROS;Robot mapping | Issue Date: | 2017 | Publisher: | Vietnamese-German University | Abstract: | Occupancy grid mapping is an effective method used as part of the solution for the simultaneous localization and mapping problem and also for the local path planning. This paper gives an introduction into the basic of occupancy grid mapping method using probability and how to solve the problem of mapping with known poses. A program developed to solve the mapping with known poses problem is proposed in this paper. Although the problem has not been solved fully, the program can solve part of the problem, which is generating a local map with the sensor source located at the center of the map using the laser scan data. This program is explained and also demonstrated to show how the problem can be solved. |
URI(1): | http://epub.vgu.edu.vn/handle/dlibvgu/568 | Rights: | Attribution-NonCommercial 4.0 International |
Appears in Collections: | Electrical Engineering and Information Technology (EEIT) |
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