Performance evaluation of the grid-based FastSLAM in V-REP using MATLAB

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dc.contributor.authorAzak S.
dc.contributor.authorErdogan E.
dc.date.accessioned2020-03-26T20:11:49Z
dc.date.available2020-03-26T20:11:49Z
dc.date.issued2018
dc.departmentSelçuk Üniversitesien_US
dc.description14th International Conference on Advanced Trends in Radioelectronics, Telecommunications and Computer Engineering, TCSET 2018 -- 20 February 2018 through 24 February 2018 -- 135817en_US
dc.description.abstractThis paper presents a Simultaneous Localization and Mapping (SLAM) application that is developed in V-REP robot simulation program by using Grid-Based FastSLAM method. In this work, the SLAM problem in an unknown indoor environment is solved with the Pioneer 3 DX mobile robot equipped with a laser range finder. Control scripts are developed in the Lua and FastSLAM scripts using MATLAB that is linked to the simulation platform by means of the Remote API feature of the V-REP. In order to evaluate of the performance of the FastSLAM, a number of tests have been conducted. Effects of the changing of particle numbers, changing in the error due to steep turn, changing of the number of sensor beam, cpu time for the iterations and the map error due to working time are analyzed in detail. © 2018 IEEE.en_US
dc.identifier.doi10.1109/TCSET.2018.8336202en_US
dc.identifier.endpage281en_US
dc.identifier.isbn9.78154E+12
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage276en_US
dc.identifier.urihttps://dx.doi.org/10.1109/TCSET.2018.8336202
dc.identifier.urihttps://hdl.handle.net/20.500.12395/37226
dc.identifier.volume2018-Aprilen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartof14th International Conference on Advanced Trends in Radioelectronics, Telecommunications and Computer Engineering, TCSET 2018 - Proceedingsen_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectFastSLAMen_US
dc.subjectgrid-baseden_US
dc.subjectlocalizationen_US
dc.subjectmappingen_US
dc.subjectSLAMen_US
dc.subjectv-repen_US
dc.titlePerformance evaluation of the grid-based FastSLAM in V-REP using MATLABen_US
dc.typeConference Objecten_US

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