Cartographer - A Terrain Mapping and Landmark-based Localization System for Small Robots

This paper presents a method for combined usage of EKF-based SLAM algorithm and a grid-based mapping technique. The solution has been tested in dedicated simulation environment “Cartographer” and implemented on the small LEGO ® NXT robot, equipped with two ultrasound sensors and connected with medium class personal computer. Results of extensive simulation tests are presented along with data obtained during preliminary experimental runs. Despite small amount of low quality sensors that have been used satisfactory results have been achieved.