Autonomous 2D SLAM and 3D mapping of an environment using a single 2D LIDAR and ROS

Ocando, Manuel Gonzalez; Certad, Novel; Alvarado, Said; Terrones, Angel

doi:10.1109/sbr-lars-r.2017.8215333

Cited by 36 publications

(18 citation statements)

References 7 publications

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“…A ROS is an open source software framework primarily based on UNIX platform for operating robots. Many ROS robotics types of research have been presented (Goldhoorn et al, 2018;Jafari et al, 2014;Leigh et al, 2015;Linder and Arras, 2016;Munaro and Menegatti, 2014;Ocando et al, 2017;Tomoya et al, 2017;Wunderlich et al, 2017;Xiao et al, 2017;Cousins, 2010). ROS has three levels of concepts: the file system level, the computation graph level, and the community level.…”

Section: Robot Operating System (Ros)mentioning

confidence: 99%

Human Following on Ros Framework a Mobile Robot

Priyandoko

Wei

Achmad

2018

Sinergi

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Service mobile robot is playing a more critical role in today's society as more people such as a disabled person or the elderly are in need of mobile robot assistance. An autonomous person following ability shows great importance to the overall role of service mobile robot in assisting human. The objective of this paper focuses on developing a robot follow a person. The robot is equipped with the necessary sensors such as a Microsoft Kinect sensor and a Hokuyo laser sensor. Four suitable tracking methods are introduced in this project which is implemented and tested on the person following algorithm. The tracking methods implemented are face detection, leg detection, color detection and person blob detection. All of the algorithms implementations in this project is performed using Robot Operating System (ROS). The result showed that the mobile robot could track and follow the target person based on the person movement.

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Section: Robot Operating System (Ros)mentioning

confidence: 99%

Human Following on Ros Framework a Mobile Robot

Priyandoko

Wei

Achmad

2018

Sinergi

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“…The data flow of the urg_node is shown in Fig. 7 [10].The mobile_node that specifies the kinematics of the mobile robot, facilitates the sensor stream, and processes velocity commands is created for a two-wheel differential drive mobile robot. The the size is configured as 0.58 in width and 0.44 in length.…”

Section: Robot Modelmentioning

confidence: 99%

“…The local path planners included in ROS are defined as base [6], elastic band (EBand) [7], [8], and timed elastic band (TEB) [9]. Simultaneous localization and mapping (SLAM) is made easier with ROS [10]- [12].To utilize the navigation package, distance sensors is attached to a mobile robot such as a laser rangefinder (LRF) to detect the obstacles within the environment and measure the distance between the detected obstacle and the robot to perform an avoidance scheme.…”

Section: Introductionmentioning

confidence: 99%

Comparative Study of ROS on Embedded System for a Mobile Robot

Kim¹,

Delgado²,

Choi³

2018

JAMRIS

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This paper presents a comparative study of Robot Operating System (ROS) packages for mobile robot navigation on an embedded system. ROS provides various libraries and tools in developing complex robot software. We discuss the process of porting ROS to an open embedded platform, which serves as the main controller for a mobile robot. In the case of driving the robot, ROS provides local path planners such as the base, elastic band, and timed elastic band. The local planners are compared and analyzed in terms of accuracy in tracking the global path conducted on a robot model using Gazebo, 3D simulation tool provided by ROS. We also discussed the difference in performance of deploying ROS packages on a personal computer and on the embedded environment. Experiments were performed by controlling two different mobile robots with results showing that tracking error is highly dependent on the goal tolerance. This study will serve as a promising metric in improving the performance of mobile robots using ROS navigation packages.

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“…Recent works [10][11] have highlighted that robot operating system (ROS) platform is particularly advantageous for environment mapping generation by using a LiDAR mounted on a mobile robot. Moreover, the possibility of using the LiDAR data (point cloud data) with efficient algorithms for simultaneous robot localization and mapping has also been recently demonstrated (i.e.…”

Section: Introductionmentioning

confidence: 99%

The Design, Fabrication and Preliminary Testing of a Variable Configuration Mobile Robot

Giannoccaro

Nishida

2019

Int. J. Robot. Autom. Technol.

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In this paper a novel low cost mobile robot that can adjust the balance between the energy efficiency and the running performance according to the environment by changing the number of wheels is introduced. The developed robot, which can be constructed by combining the modules and is driven by Robot Operating System (ROS) tools, has a 3D light detection and distance measurement (LiDAR) for generation of 3D digital map and travels through several environment with saving the energy by adaptively changing the number and arrangement of the wheels according to the environment. The robot can easily change the three types of mechanisms by changing the number of modularized driving wheels and their combination. Furthermore, the developed robot can construct a 3D map in a rough outdoor environment and the running performance of three kinds of robots was investigated by an extensive characterization. Finally, the limits of this prototype have been meticulously analyzed, highlighting new improvements in the future perspective development for permitting an autonomous environment perception with a simple, modular and low-cost device.

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Autonomous 2D SLAM and 3D mapping of an environment using a single 2D LIDAR and ROS

Cited by 36 publications

References 7 publications

Human Following on Ros Framework a Mobile Robot

Human Following on Ros Framework a Mobile Robot

Comparative Study of ROS on Embedded System for a Mobile Robot

The Design, Fabrication and Preliminary Testing of a Variable Configuration Mobile Robot

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