Abstract:
This paper presents the development of a real time Simultaneous Localisation and Mapping (SLAM) application for generic robot plat- forms using Player, called the Real Time SLAM Proxy (RSP). The Extended Kalman Filter (EKF) and Multiple Particle Filter (MPF) SLAM algorithms are implemented in RSP, and experimental results are provided. RSP is in- tended for nonholonomic robots that operate in 2-D outdoor environments where landmarks can be modelled by cylindrical features and de- tected using laser range nders.