Localization and Navigation of Indoor Mobile Robots


Wong, Xin Yi and Lo, Yew Chiong and Cham, Chin Leei (2022) Localization and Navigation of Indoor Mobile Robots. Periodic Research Publication, Faculty of Engineering. (Unpublished)

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Localization is a fundamental requirement for a mobile robot to navigate in an indoor environment. With the absence of GPS indoor, other localization systems are explored A 2D laser-based localization and navigation system is developed on a Raspberry Pi 3 Model B by utilizing software libraries and tools from an open source software platform, Robot Operating System (ROS). Adoptive Monte Carlo Localization (AMCL) package and navigation stack from ROS are applied on a map produced from ROS Hector Simultaneous Localization and Mapping (SLAM) to navigate a four wheel omni directional drive mobile robot controlled by an Arduino Uno microcontroller and a L 293 D motor driver shield in the real world. The position of the mobile robot and obstacles are determined with the aid of Light Detection and Ranging (LiDAR) sensor and ROS laser scan matcher package without information from wheel encoder. The system is able to navigate the mobile robot to the assigned destination within 0.1 m distance difference as well as detect and avoid additional static and dynamic obstacles during the navigation process. However, the mobile robot used in this system has limitations in speed. Hence, errors in cost map may happen and the system requires manual recovery.

Item Type: Other
Subjects: Q Science > QA Mathematics > QA71-90 Instruments and machines > QA75.5-76.95 Electronic computers. Computer science > QA76.75-76.765 Computer software
T Technology > TJ Mechanical Engineering and Machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Divisions: Faculty of Engineering (FOE)
Depositing User: Assoc. Dr Chee Pun Ooi
Date Deposited: 29 Nov 2022 01:17
Last Modified: 29 Nov 2022 01:17
URII: http://shdl.mmu.edu.my/id/eprint/10649


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