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On the Problems of SLAM Simulation for Mobile Robots in the Arctic Conditions

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Interactive Collaborative Robotics (ICR 2020)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12336))

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Abstract

Autonomous robots in the Arctic cover a number of strategically important tasks, including climate research, reconnaissance, transportation, material delivery, search and rescue. These goals require adapting standard navigation, localization and mapping algorithms to the harsh Arctic conditions, which do not allow their straightforward usage. The paper describes main problems of using simultaneous localization and mapping (SLAM) algorithms in the Arctic region and formulate requirements for the Arctic landscape simulator. With regard to these requirements we constructed Arctic terrains in Gazebo simulator, which implemented three of the eight proposed Arctic features, and studied behavior of ROS implementations of GMapping, Hector SLAM, ORB-SLAM2 and RTAB-Map SLAM algorithms within the obtained terrains.

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Acknowledgements

The reported study was funded by the Russian Foundation for Basic Research (RFBR) according to the research project No. 19-58-70002. The sixth author acknowledges the support of the Japan Science and Technology Agency, the JST Strategic International Collaborative Research Program, Project No. 18065977.

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Authors and Affiliations

  1. Laboratory of Intelligent Robotic Systems (LIRS), Intelligent Robotics Department, Higher Institute for Information Technology and Intelligent Systems, Kazan Federal University, Kazan, Russian Federation

    Elvira Chebotareva, Tatyana Tsoy & Bulat Abbyasov

  2. Naberezhnye Chelny Institute, Kazan Federal University, Kazan, Russia

    Jamila Mustafina

  3. Laboratorio de Robotica, Institute Engineering and Technology, Universidad Autonoma de Ciudad Juarez, Juarez, Mexico

    Edgar A. Martinez-Garcia

  4. College of Information Science and Engineering, Ritsumeikan University, Kyoto, Japan

    Yang Bai & Mikhail Svinin

Authors
  1. Elvira Chebotareva
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  2. Tatyana Tsoy
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  3. Bulat Abbyasov
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  4. Jamila Mustafina
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  5. Edgar A. Martinez-Garcia
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  6. Yang Bai
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  7. Mikhail Svinin
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Corresponding author

Correspondence to Elvira Chebotareva .

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Editors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Technical University of Munich, Munich, Germany

    Gerhard Rigoll

  3. Institute of Control Sciences of the Russian Academy of Sciences, Moscow, Russia

    Roman Meshcheryakov

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Chebotareva, E. et al. (2020). On the Problems of SLAM Simulation for Mobile Robots in the Arctic Conditions. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2020. Lecture Notes in Computer Science(), vol 12336. Springer, Cham. https://doi.org/10.1007/978-3-030-60337-3_4

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  • DOI: https://doi.org/10.1007/978-3-030-60337-3_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-60336-6

  • Online ISBN: 978-3-030-60337-3

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