Object

Alternative title:

Ocena trajektorii ruchu robota na podstawie wybranych algorytmów mapujących

Contributor:

Natalia DANIEL, Szymon CHERUBIN

Abstract:

This paper presents the concept of a remotely controlled mobile robot that generates a two-dimensional map of its surroundings. The hardware platform developed relies on the LINUX operating system with the Robot Operating System (ROS) to function properly. The authors focused on discussing the robot's hardware and presenting the software used. In line with the assumptions made, the robot is capable of generating a two-dimensional digital map of its surroundings, as well as of recording images of those surroundings. The robot relies on lidar odometry for identifying its position, meaning that the developed algorithm calculates the vehicle's location based on data from a laser scanner. The main sources of environment-related information acquired by the robot include the following: RPLidar A3M1 laser scanner by Slamtec (generating a digital map) and a 5mpx HD OV5647 camera (capturing images of the surroundings). These devices are coupled with the Raspberry Pi 3B on-board computer via a CSI interface.

Place of publishing:

Warszawa

Publisher:

Wojskowa Akademia Techniczna

Date created:

2010 r.0

Date submitted:

2022-08-03

Date accepted:

2022-08-18

Date issued:

2024-03-31

Extent:

B5

Identifier:

oai:ribes-88.man.poznan.pl:2698

Call number:

doi:10.5604/01.3001.0054.4489

Electronic ISSN:

2720-5266

Print ISSN:

2081-5891

Language:

angielski

License:

click here to follow the link

Rights holder:

Wojskowa Akademia Techniczna

Starting page:

65

Ending page:

82

Volume:

15

Journal:

PROMECH

Keywords:

mobile robot, 2D map generation, ROS, Linux, Lidar