Implementation of a Mapping and Location System for a Hexapod Robot Focused on the Exploration of the Environment and Temperature Monitoring

Abstract

The various investigations in the field of robotics have allowed achieving significant advances in the development of methods that efficiently allow determining the position of a robot in an environment that is not always known. Simultaneous localization and mapping (SLAM) allow determining the current position of a robot and mapping the route to be followed, in which even the presence of solid elements present in real environments (landmarks), which represent the robot a change in its direction during the march. This proposal provides the analysis of the implementation of the probabilistic method, particle filter, which under certain conditions ensures the correct performance in real controlled scenarios, the acquisition of information from the environment without connection to the network by means of the sampling of temperature values through storage of the data in CVS files and the monitoring of the temperature by means of the visualization of a thermal map. For the success of this analysis, it is necessary to ensure the robustness of the results obtained when applying these systems, and to consider the feasibility of the application of this work for the proposed objectives.