{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,27]],"date-time":"2025-10-27T20:56:54Z","timestamp":1761598614317,"version":"build-2065373602"},"reference-count":29,"publisher":"MDPI AG","issue":"15","license":[{"start":{"date-parts":[[2025,7,22]],"date-time":"2025-07-22T00:00:00Z","timestamp":1753142400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Council for Scientific and Technological Development (CNPq)","award":["UID\/04708","2020.00828.CEECIND\/CP1590\/CT0004"],"award-info":[{"award-number":["UID\/04708","2020.00828.CEECIND\/CP1590\/CT0004"]}]},{"name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","award":["UID\/04708","2020.00828.CEECIND\/CP1590\/CT0004"],"award-info":[{"award-number":["UID\/04708","2020.00828.CEECIND\/CP1590\/CT0004"]}]},{"name":"Scientific Employment Stimulus","award":["UID\/04708","2020.00828.CEECIND\/CP1590\/CT0004"],"award-info":[{"award-number":["UID\/04708","2020.00828.CEECIND\/CP1590\/CT0004"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This work presents the development of a functional real-time SLAM system designed to enhance the perception capabilities of an Automated Guided Vehicle (AGV) using only a 2D LiDAR sensor. The proposal aims to address recurring gaps in the literature, such as the need for low-complexity solutions that are independent of auxiliary sensors and capable of operating on embedded platforms with limited computational resources. The system integrates scan alignment techniques based on the Iterative Closest Point (ICP) algorithm. Experimental validation in a controlled environment indicated better performance using Gauss\u2013Newton optimization and the point-to-plane metric, achieving pose estimation accuracy of 99.42%, 99.6%, and 99.99% in the position (x, y) and orientation (\u03b8) components, respectively. Subsequently, the system was adapted for operation with data from the onboard sensor, integrating a lightweight graphical interface for real-time visualization of scans, estimated pose, and the evolving map. Despite the moderate update rate, the system proved effective for robotic applications, enabling coherent localization and progressive environment mapping. The modular architecture developed allows for future extensions such as trajectory planning and control. The proposed solution provides a robust and adaptable foundation for mobile platforms, with potential applications in industrial automation, academic research, and education in mobile robotics.<\/jats:p>","DOI":"10.3390\/s25154541","type":"journal-article","created":{"date-parts":[[2025,7,22]],"date-time":"2025-07-22T13:35:28Z","timestamp":1753191328000},"page":"4541","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["ICP-Based Mapping and Localization System for AGV with 2D LiDAR"],"prefix":"10.3390","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-2661-2415","authenticated-orcid":false,"given":"Felype de L.","family":"Silva","sequence":"first","affiliation":[{"name":"Laboratory of Electronic Instrumentation and Control (LIEC), Department of Electrical Engineering (DEE), Federal University of Campina Grande (UFCG), Campina Grande 58429-900, PB, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5493-8737","authenticated-orcid":false,"given":"Eisenhawer de M.","family":"Fernandes","sequence":"additional","affiliation":[{"name":"Laboratory of Electronic Instrumentation and Control (LIEC), Department of Electrical Engineering (DEE), Federal University of Campina Grande (UFCG), Campina Grande 58429-900, PB, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0829-0295","authenticated-orcid":false,"given":"P\u00e9ricles R.","family":"Barros","sequence":"additional","affiliation":[{"name":"Laboratory of Electronic Instrumentation and Control (LIEC), Department of Electrical Engineering (DEE), Federal University of Campina Grande (UFCG), Campina Grande 58429-900, PB, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2527-5604","authenticated-orcid":false,"given":"Levi da C.","family":"Pimentel","sequence":"additional","affiliation":[{"name":"Laboratory of Electronic Instrumentation and Control (LIEC), Department of Electrical Engineering (DEE), Federal University of Campina Grande (UFCG), Campina Grande 58429-900, PB, Brazil"}]},{"given":"Felipe C.","family":"Pimenta","sequence":"additional","affiliation":[{"name":"Laboratory of Electronic Instrumentation and Control (LIEC), Department of Electrical Engineering (DEE), Federal University of Campina Grande (UFCG), Campina Grande 58429-900, PB, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1691-1872","authenticated-orcid":false,"given":"Antonio G. B. de","family":"Lima","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Federal University of Campina Grande (UFCG), Campina Grande 58429-900, PB, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1026-4523","authenticated-orcid":false,"given":"Jo\u00e3o M. P. Q.","family":"Delgado","sequence":"additional","affiliation":[{"name":"CONSTRUCT-BPG, Department of Civil and Georesources Engineering, Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2025,7,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Sutthi, S., Phaiyakarn, A., Prueksakunnatam, S., Khuankrue, I., and Janya-Anurak, C. (2023, January 6\u20139). Designing of Delta Manipulator as Human-Robot Interaction for Collaborative Mobile Robot. 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