intechnguВестник НГУ. Серия: Информационные технологииVestnik NSU. Series: Information Technologies1818-79002410-0420НГУ10.25205/1818-7900-2021-19-4-36-49intechngu-181Research ArticleСтатьиИсследование SLAM-фреймворков для монокулярных мобильных роботов в проекте DuckietownSLAM in Duckietown Simulator Using the OpenVSLAM Frameworkhttps://orcid.org/0000-0002-0583-4202ДевятовскаяА. Д.DevyatovskayaA. D.

Александра Денисовна Девятовская, студентка

Новосибирск

Alexandra D. Devyatovskaya, Bachelor Student

Novosibirsk

a.devyatovskaya@g.nsu.ruhttps://orcid.org/0000-0002-1755-9527БирючковН. Е.BiryuchkovN. E.

Никита Евгеньевич Бирючков, студент

Новосибирск

Nikita E. Biryuchkov, Bachelor Student

Novosibirsk

n.biryuchkov@g.nsu.ruhttps://orcid.org/0000-0001-9148-946XЛяхТ. В.LiakhT. V.

Татьяна Викторовна Лях, кандидат технических наук

Новосибирск

 

Tatyana V. Liakh, Candidate of Sciences (Engineering)

Novosibirsk

t.liakhv@g.nsu.ruhttps://orcid.org/0000-0001-5778-9266ЧайкаК. В.ChaikaK. V.

Константин Владимирович Чайка, аспирант

Санкт-Петербург

Konstantin V. Chaika, Post-Graduate Student

St. Petersburg

pro100kot14@gmail.comНовосибирский государственный университетРоссияNovosibirsk State UniversityRussian FederationСанкт-Петербургский государственный электротехнический университет; Лаборатория алгоритмов мобильных роботов JetBrains ResearchРоссияSaint Petersburg Electrotechnical University; Mobile Robot Algorithms Laboratory JetBrains ResearchRussian Federation2021250220221943649Copyright © Девятовская А.Д., Бирючков Н.Е., Лях Т.В., Чайка К.В., 20222022Девятовская А.Д., Бирючков Н.Е., Лях Т.В., Чайка К.В.Devyatovskaya A.D., Biryuchkov N.E., Liakh T.V., Chaika K.V.This work is licensed under a Creative Commons Attribution 4.0 License.https://intechngu.elpub.ru/jour/article/view/181

Статья посвящена оценке применимости SLAM фреймворков для задачи мобильных роботов проекта Duckietown. Проведен сравнительный анализ существующих SLAM алгоритмов и фреймворков, были отобраны фреймворки с учетом всех ограничений, накладываемых роботами проекта. Приведены практические результаты апробации фреймворка OpenVSLAM как на данных реального окружения Duckietown, так и на данных симулятора Duckietown.

The article is devoted to evaluating the applicability of SLAM frameworks for the task of mobile robots of the Duckietown project. The paper provides a comparative analysis of existing SLAM algorithms and frameworks and selects frameworks taking into account all the constraints imposed by the project robots. The practical results of testing OpenVSLAM framework on the Duckietown environment and Duckietown simulator data are presented.

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The authors declare that there are no conflicts of interest present.