ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

SLAM with multiple range finders

asked 2019-06-14 06:39:33 -0500

TommasoBendinelli gravatar image

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 to may, but I have three laser rangefinders available so it is a bit different

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2019-06-15 13:12:11 -0500

JustinBlack02 gravatar image

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.

edit flag offensive delete link more

Question Tools


Asked: 2019-06-14 06:39:33 -0500

Seen: 190 times

Last updated: Jun 15 '19