کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

An Enhanced SLAM Method Using ICP Algorithm for Autonomous Mobile Robots Navigation

نویسندگان :

Hasan Enami Eraghi¹ Mohammad Reza Taban² Sayed Farzad Bahreinian³ Mohammad Reza Jabbari⁴

1- Isfahan University of Technology 2- Isfahan University of Technology 3- Isfahan University of Technology 4- Isfahan University of Technology

کلمات کلیدی :

Autonomous Mobile Robot،Cubature Kalman Filter،Iterative Closest Point،Simultaneous Localization and Mapping،Unscented Kalman Filter

چکیده :

Abstract—This paper addresses the challenge of Autonomous Mobile Robot (AMR) navigation in unknown environments usingSimultaneous Localization and Mapping (SLAM). We propose improving the accuracy of AMR pose estimation within Unscented Kalman Filter (UKF)- and Cubature Kalman Filter (CKF) based SLAM frameworks by integrating the Iterative Closest Point (ICP) algorithm immediately after the state prediction step. Our approach leverages re-observed landmarks from consecutive environmental scans, aligning and matching them to refine AMR position estimates. Simulation results demonstrate that incorporating ICP into the UKF-SLAM and CKF-SLAM methods significantly enhances state estimation accuracy and system stability.

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