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Abstract and Applied Analysis
Volume 2014 (2014), Article ID 513175, 8 pages
Research Article

Indoor SLAM Using Laser and Camera with Closed-Loop Controller for NAO Humanoid Robot

1Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004, China
2School of Engineering Sciences, Simon Fraser University, No. 250-13450, 102 Avenue, Surrey, BC, Canada V3T 0A3
3Parallel Robot and Mechatronic System Laboratory of Hebei Province and Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao 066004, China

Received 4 May 2014; Revised 24 June 2014; Accepted 25 June 2014; Published 10 July 2014

Academic Editor: Shen Yin

Copyright © 2014 Shuhuan Wen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We present a SLAM with closed-loop controller method for navigation of NAO humanoid robot from Aldebaran. The method is based on the integration of laser and vision system. The camera is used to recognize the landmarks whereas the laser provides the information for simultaneous localization and mapping (SLAM ). K-means clustering method is implemented to extract data from different objects. In addition, the robot avoids the obstacles by the avoidance function. The closed-loop controller reduces the error between the real position and estimated position. Finally, simulation and experiments show that the proposed method is efficient and reliable for navigation in indoor environments.