simultaneous localization and mapping (SLAM)
Ultra-wideband radar (UWB) is capable of perceiving the surroundings irrespective of the visibility due to its broad frequency spectrum. Therefore, UWB technology can be employed in mobile robots to perform simultaneous localization and mapping (SLAM) in vision-denied environments (e.g. smoke, fog, walls with reflective surfaces). We chose four different environments to teleoperate a TurtleBot2 nonholonomic robot equipped with Novelda X4M300 monostatic radar modules and RPLIDAR-A2 laser range scanner(s).
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The research data folder contains two primary subfolders, namely the "exper1" and "exper2" folders. These folders hold the experimental data and results relevant to our study.
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Mechanical Scanning Sonars (MSS) are popular underwater sensors for Unmanned Underwater Vehicles (UUV) due to their low cost, small size, and low power consumption. But due to their simplicity, there are also many research challenges related to their usage. Unfortunately, there is also a lack of data with ground truth UUV localization. We provide MSS datasets using a UUV with standard navigation sensors, i.e., an Inertial Measurement Unit (IMU) and a Doppler Velocity Log (DVL).
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