Object

Alternative title:

Wpływ algorytmów mapowania na temperaturę i możliwości obliczeniowe jednostki centralnej robota mobilnego

Contributor:

Szymon CHERUBIN, Michał SIWEK

Abstract:

This article presents a study on popular algorithms for building 2D and 3D environmental maps using unmanned ground vehicles (UGVs). The research was conducted using a mobile robot integrated with the ROS Noetic platform and equipped with LiDAR, Kinect, and odometry sensors. The robot’s control system implements advanced map generation algorithms based on fusing data from these sensors. The paper first investigates three CPU cooling system configurations for the robot’s onboard computer, analysing their performance under the computational load imposed by the mapping algorithms. Subsequently, the accuracy of specific mapping algorithms (Hector SLAM, GMapping, and RTAB-Map) was evaluated.

Place of publishing:

Warszawa

Publisher:

Wojskowa Akademia Techniczna

Date created:

2010 r.0

Date submitted:

2023-12-05

Date accepted:

2025-06-02

Date issued:

2025-06-30

Extent:

B5

Identifier:

oai:ribes-88.man.poznan.pl:2738

Call number:

doi:10.5604/01.3001.0055.1528

Electronic ISSN:

2720-5266

Print ISSN:

2081-5891

Language:

angielski

License:

click here to follow the link

Rights holder:

Wojskowa Akademia Techniczna

Starting page:

81

Ending page:

100

Volume:

16

Journal:

PROMECH

Keywords:

mobile robot, ROS, 2D map generation, 3D map generation, SLAM, thermal management