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Informative Article | Electrical & Electronics Engineering | India | Volume 10 Issue 10, October 2021 | Rating: 3.5 / 10
Comparison of Multiple Slam Algorithms using ROS
Abstract: This paper presents a comparative analysis of mapping and localization techniques for a single robot in a home environment. The TurtleBot3 robot, simulated in the Gazebo environment, is employed to generate maps, and the visualization of the mapping process is performed using RViz. Initially, a map is created by moving the robot using teleoperation and employing the Gmapping algorithm. The movement parameters are recorded and replayed to generate a map using the Hector SLAM algorithm. The final maps produced by these two algorithms are compared by overlaying them on the actual map, highlighting their respective advantages and limitations.
Keywords: mapping techniques, localization techniques, TurtleBot3 robot, Gmapping algorithm, Hector SLAM algorithm
Edition: Volume 10 Issue 10, October 2021,
Pages: 1624 - 1626