Simultaneous Localization and Mapping of Mobile Robot Based on Environmental Features

Simultaneous localization and mapping (SLAM) for mobile robots is critical to realize the fully autonomous navigation. In this paper a general framework of simultaneous localization and mapping is proposed for mobile robots. Sequentially every parts of the framework are designed in detail. Finally the feasibility of the proposed framework is verified by the experiment based on point model and extended Kalman filter algorithmic approach. In conclusion the future direction of research is pointed out. The aim is to provide a feasible framework to research on simultaneous localization and mapping with researchers and to promote the development of robotic technologies.