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9th International Conference on Robotic, Vision, Signal Processing and Power Applications pp 395–405Cite as

Development of Rao-Blackwellized Particle Filter (RBPF) SLAM Algorithm Using Low Proximity Infrared Sensors

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Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 398))

Abstract

Simultaneous Localization and Mapping (SLAM) algorithm are often developed using accurate sensor such as laser rangefinder. However, recently more consumer-oriented robots are usually equipped with low-end sensor such as low-proximity infrared sensor due to its lower cost. This has motivated this research work to implement RBPF-SLAM algorithm using infrared sensor only. Despite of the sparseness and noisiness characteristics of infrared sensor, it is used as the only robot’s perception in the RBPF-SLAM algorithm developed. The performance of this algorithm is investigated and analyzed. The result shows a decent and satisfactory map.

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Acknowledgments

The authors would like to acknowledge and express much appreciation to the Ministry of Higher Education Malaysia, Universiti Teknologi Mara (UiTM) and Universiti Teknikal Malaysia Melaka (UTeM) for the opportunity, facilities and funds to carry out this research.

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Authors and Affiliations

  1. Faculty of Electrical Engineering, Universiti Teknologi MARA (UiTM), 40450, Shah Alam, Selangor, Malaysia

    Norhidayah Mohamad Yatim & Norlida Buniyamin

  2. Faculty of Electronics and Computer Engineering, Universiti Teknikal Malaysia Melaka (UTeM), 76100, Hang Tuah Jaya, Melaka, Malaysia

    Norhidayah Mohamad Yatim

Authors
  1. Norhidayah Mohamad Yatim
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  2. Norlida Buniyamin
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Corresponding authors

Correspondence to Norhidayah Mohamad Yatim or Norlida Buniyamin .

Editor information

Editors and Affiliations

  1. School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia

    Haidi Ibrahim

  2. School of Electrical & Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia

    Shahid Iqbal

  3. School of Electrical & Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia

    Soo Siang Teoh

  4. School of Electrical & Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia

    Mohd Tafir Mustaffa

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© 2017 Springer Science+Business Media Singapore

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Yatim, N.M., Buniyamin, N. (2017). Development of Rao-Blackwellized Particle Filter (RBPF) SLAM Algorithm Using Low Proximity Infrared Sensors. In: Ibrahim, H., Iqbal, S., Teoh, S., Mustaffa, M. (eds) 9th International Conference on Robotic, Vision, Signal Processing and Power Applications. Lecture Notes in Electrical Engineering, vol 398. Springer, Singapore. https://doi.org/10.1007/978-981-10-1721-6_43

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  • DOI: https://doi.org/10.1007/978-981-10-1721-6_43

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-1719-3

  • Online ISBN: 978-981-10-1721-6

  • eBook Packages: EngineeringEngineering (R0)

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