TY  - JOUR
T1  - Hector SLAM 2D Mapping for Simultaneous Localization and Mapping (SLAM)
AU - Saat, Shahrizal AU - Salihin Saealal, Muhammad AU - Airini, AN.MF. AU - Farees Ezwan, M.S. AU - Norhisyam, A.R. Wan 
JO  - Journal of Engineering and Applied Sciences
VL  - 14
IS  - 16
SP  - 5610
EP  - 5615
PY  - 2019
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2019.5610.5615
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2019.5610.5615
KW  - Robotic Operating System (ROS)
KW  -Simultaneous Localization and Mapping (SLAM)
KW  -landmarks
KW  -flight control
KW  -computational
KW  -RPLiDAR A2
AB  - This study presents an application of LiDAR sensor for 2D mapping construction in an unkwown
environments and capability to localize its own location based on landmark detected. Previously, there are
various research actively conducted by others researchers for SLAM application. In general, it can be
categorized based on three different type of sensor measurement and technique such as vision based SLAM,
RGB-D based SLAM and also laser based SLAM. The main focus in this project is to present an experiment
result conducted of a Simultaneous Localization and Mapping (SLAM) application based on laser sensor which
is LiDAR in term of capability of mapping construction and localization it self. LiDAR sensor is put on the
vehicle that will operate in real-world environments and computational processing done by using Robotic
Operating System (ROS). This project is tested and verified in a curtain room with several parameter by using
Robot Operating System (ROS). SLAM was implemented to provide localization estimates in environments
where there are static landmarks that are only rarely recognized by the vehicle or robot. This project also,
consider the features that enter and leave the environment as temporary landmarks that can be used in
combination with the rarely seen static landmarks. As conclusion, performance of SLAM by using LiDAR
sensor can be apply for several robotic system such as flight control, obstacle avoidance, navigation and other
function in the future application.
ER  -