Choosing which slam to use

Hello, I am trying to build a wheeled robot able to map its environment. I use GP2Y0A21YK0F as sensors and mini computer UP for ROS. Browsing the internet I have found many available SLAM that seems to work with my sensor (EFKSlam, FastSlam, gmapping, graphSlam) but I don't know which one I should choose. Should I consider the library it uses, or is one better/easier than others? I am hoping building it will be a learning experience.

Asked by Mrugi on 2023-07-18 08:47:41 UTC

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Answers

Your device is a single-beam IR range sensor with a max. range of 80cm. With only that sensor as input, I doubt that SLAM is possible - there is not enough information.

You will also need an estimate of how far and in what direction the robot has moved ("odometry"). One common way to measure this is by using a "rotation encoder" on each wheel axel, then performing calculations.

Asked by Mike Scheutzow on 2023-07-22 10:29:42 UTC