20 Sep 2023

Mapping and Localization Within a Mock Sewer System

Abstract: Herein, we explored a robot’s ability to localize and map, both in simulation and on a physical robot, within a mock sewer system. Mapping and localization techniques were first developed and tested in simulation and were then transitioned to the actual robot for additional physical testing. Several odometry and simultaneous localization and mapping (SLAM) techniques, including gmapping, SLAM toolbox, elevation mapping, and RTABMap, were evaluated for this particular environment. The results of the odometry and the various SLAM approaches are discussed in detail.