Realtime Autonomous Navigation in V-Rep based static and dynamic environment using EKF- SLAM

Umme Hani


Localization in autonomous mobile robot allows it to operate autonomously in an unknown and unpredictable environment with the ability to determine its position and heading. Simultaneous Localization and Mapping (SLAM) is introduced to solve the problem where no prior information about the environment is available either its static or dynamic to achieve standard map-based localization. The primary focus of this research is autonomous mobile robot navigation using EKF- SLAM environment modeling technique which provides higher accuracy and reliability in mobile robot localization and mapping result. In this paper EKF-SLAM performance verified by simulations performed in static and dynamic environment designed in V-REP i.e, 3D Robot simulation environment. In this work SLAM problem of two wheeled differential drive robot i.e, Pioneer 3-DX in indoor static and dynamic environment integrated with Laser range finder i.e, Hokuyo URG-04LX-UG01, LIDAR and Ultrasonic sensors is solved. EKF-SLAM scripts are developed using MATLAB that is linked to V-REP via Remote API Feature in order to evaluate EKF-SLAM performance. The reached results confirm the EKF-SLAM is reliable approach for real-time autonomous navigation for mobile robots in comparisons to other techniques.


EKF-SLAM; Obstacle Avoidance; Path Estimation; V-REP; Static and Dynamic Simulation Comparison

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