An efficient MATLAB implementation of grid maps and laser range finder likelihood models for the autonomous navigation of mobile robots

Flores I.A.C. · 2020 IEEE ANDESCON, ANDESCON 2020 (2020) · DOI: 10.1109/andescon50619.2020.9272166

Resumen

For the autonomous navigation of mobile robots we need grid maps and probabilistic models to describe the world and the sensors' measurements. This work presents an efficient Matlabi mplementation of grid maps and laser sensor likelihood models that can be used for both the rapid prototyping of autonomous navigation algorithms and the easy analysis of the impact of the several parameters of these models. The approach makes use of an object oriented approach and of vectorized operations wherever possible in order speed the velocity of execution. The main advantages of this library are the easy with wich the user can implement and analyze autonomous navigation algorithms which is demonstrated in the implementation of a localization algorithm using particle filters, and the low execution times that allow its use in real-time operations.

Instituciones: Universidad Nacional de Ingeniería