Abstract
In this chapter we describe a complete solution for autonomous navigation and exploration in indoor environment. We introduce some new concepts to achieve several tasks giving a robotic platform the ability to explore autonomously and safely its environment. We use a Simultaneous Localization and Mapping (SLAM) algorithm based on IML concept with low drift. We also introduce a new navigation method based on potential fields, with proven convergence. These methods and algorithms have been tested using a real mobile robot. This system proved its capabilities during the CAROTTE Robotics Contest. Our team CoreBots won the first and second edition of this contest using these methods.
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© 2013 Springer-Verlag Berlin Heidelberg
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El Hamzaoui, O., Espino, J.C., Steux, B. (2013). Autonomous Navigation and Mapping with CoreSLAM. In: Sen Gupta, G., Bailey, D., Demidenko, S., Carnegie, D. (eds) Recent Advances in Robotics and Automation. Studies in Computational Intelligence, vol 480. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37387-9_7
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DOI: https://doi.org/10.1007/978-3-642-37387-9_7
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