Autonomous Navigation and Mapping with CoreSLAM

  • Oussama El HamzaouiEmail author
  • Jorge Corsino Espino
  • Bruno Steux
Part of the Studies in Computational Intelligence book series (SCI, volume 480)


In this chapter we describe a complete solution for autonomous navigation and exploration in indoor environment. We introduce some new concepts to achieve several tasks giving a robotic platform the ability to explore autonomously and safely its environment. We use a Simultaneous Localization and Mapping (SLAM) algorithm based on IML concept with low drift. We also introduce a new navigation method based on potential fields, with proven convergence. These methods and algorithms have been tested using a real mobile robot. This system proved its capabilities during the CAROTTE Robotics Contest. Our team CoreBots won the first and second edition of this contest using these methods.


Mobile Robot Path Planning Autonomous Navigation Robot Position Distance Transform 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Oussama El Hamzaoui
    • 1
    Email author
  • Jorge Corsino Espino
    • 1
  • Bruno Steux
    • 1
  1. 1.Centre de Robotique CAORMines-ParisTechParisFrance

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