Autonomous Mobile Robot Using Simultaneous Localization And Mapping and 2D Light Detecting And Ranging Sensor
Abstract
In this paper, The Design and Implementation of Simultaneous Localization and Mapping Robot which adopts the Robot Operating System is presented by considering both the hardware and software architecture along with the electronic communication protocols. The objective of the robot is to create a 2-dimensional map of an unexplored, unknown indoor environment, to navigate autonomously and positioning the objects. The problem is very challenging especially when Global Positioning System stop working in indoor area. To solve the problem, the indoor mapping and positioning technique is used. It combines the power of Global Positioning System and precise mapping. This technique provides the ability of real-time mapping and tracking of location information. They are several methods to achieve it which includes some traditional methods magnetic positioning, Radio wave and Radio frequency tagging. Our proposed robot model uses a Simultaneous Localization and Mapping technique for effective mapping and localization. The system composes of ideal robot car that can helps to reduce the time required to map any environment and locate the object, this is done through landmark extraction, path planning and path following algorithm. The map obtained by using this technique is given to the Path planning which process the map data and gives the optimal shortest path distance in which robot can navigate autonomously and positioning the objects.