SLAM with multiple range finders

Hi everybody,

I have a simple setting where I want the end of the effector of my robot to move parallel to a wall. Particularly the robot it is an inverted pendulum mounted on a two-wheeled base. The pendulum can both be tilted in both in pitch and roll direction. The two-wheel base is like a unicycle type mobile robot and it can be used to move around and change the yaw.

The sensors that I have available are odometers, IMU and the three single point laser rangefinders, mounted at different heights and depth on the pendulum measure with nice accuracy the distance from the wall.

Can I use SLAM in this setting? If so, How should I do that?

I have found this question http://answers.ros.org/question/173869/can-i-use-a-single-point-laser-range-finder-with-a-slam-algorithm-not-a-hokuyo-typewide-angle-type-scanner/similary to may, but I have three laser rangefinders available so it is a bit different

Asked by TommasoBendinelli on 2019-06-14 06:39:33 UTC

Comments

Answers

In theory it should be possible, if you assume your world is basically 2D then you could project on the xy plane your ranges using your attitude estimation. That gives you 3 points you could use in some of the old slam packages such as gmapping or karto. I would also use robot_localization to fuse your wheel odometry and imu data.

In practice... I'm not sure how good this solution will be except in the most simple motions and environments.

Asked by JustinBlack02 on 2019-06-15 13:12:11 UTC