Akademik Veri Yönetim Sistemi
El-Cezeri Journal of Science and Engineering, cilt.8, sa.3, ss.1441-1454, 2021 (Scopus)
An autonomous mobile robot needs a map of the environment and location information relative to the map. Simultaneous Localization and Mapping (SLAM) is a prediction process in which the autonomous mobile robot can use this map to determine its position while building a consistent map. The purpose of this study is to examine the effect of geometric objects on SLAM performance. In this direction, three different experimental areas including equilateral triangular prisms, square prisms and cylinders are designed in Gazebo. The fourth experiment area includes all three geometric objects used in the study. When the mapping times of the four experimental areas were compared, it was seen that the fastest scenario is achieved within triangular-only objects (9 min 55 sec) and the slowest within square (10 min 43 sec). In terms of measures, the generated map including the triangular prisms is the closest to the actual measures of the simulated area. Accordingly, the mapping error was calculated as 0.171 m2 per 1 m2 in an interior made of triangular prisms, and 0.682 m2 in an interior made of square prisms. The obtained results show that the shapes of the geometric objects directly affect the performance of SLAM.