Hybrid Map building using SLAM with loop closure

Abstract

SLAM is one of the most popular methods used to build a map for mobile robots. However, it has a cumulative error due to wheel slippage and uneven floor, and the built map may show a different location from actual location. In this research, we use a method called loop closure to eliminate the cumulative error. Furthermore, we add information of magnetic direction on the map and use it to correct the heading direction of the mobile robot during the autonomous navigation to make the autonomous navigation method more robust.