Perfoming 2D Slam with a Differential Drive Mobile Robot geared with a Range Sensor

Project for Probabilistic Robotics, Univ. La Sapienza Roma, 2020.

Approach

The goal of this project is to optimize the trajectory and the map generated by a unicycle-like robot. The robots moves in the map and it's equipped with a range sensor which can sense the radial distance of landmarks. We know the matching range-landmark_id but the global position of the robot and the global position of the landmark must be corrected using a multipoint ICP.

The Algorithm follows these phases:

1. First we need to generate an initial guess of the position in world frame of the landmark, so a triangulation procces is launched. This will give a "guess" on the position of the landmarks.
2. Second phase is the ICP algorithm. This is a repetitive optimization algorithm which aims to converge both robot poses and landmark position based on the range measurements.
3. Generation of the resulting plot.

Project status

Completed

Running the test

octave main.m

Video Demo

Click on the image for complete video

Team

• Michele Ciciolla

Documentation

No report, sorry.