Building Environmental Awareness System for Mobile Robot Operating in Indoor Environment on ROS Platform

International Journal of Electrical and Electronics Engineering

© 2021 by SSRG - IJEEE Journal

Volume 8 Issue 1

Year of Publication : 2021

Authors : Nguyen Duc Dien, Nguyen Duc Duong, Vu Anh Nam, Tran Thi Huong

10.14445/23488379/IJEEE-V8I1P106

How to Cite?

Nguyen Duc Dien, Nguyen Duc Duong, Vu Anh Nam, Tran Thi Huong, "Building Environmental Awareness System for Mobile Robot Operating in Indoor Environment on ROS Platform," SSRG International Journal of Electrical and Electronics Engineering, vol. 8,  no. 1, pp. 32-36, 2021. Crossref, https://doi.org/10.14445/23488379/IJEEE-V8I1P106

Abstract:

The paper presents a navigation system for robots operating in indoor environments, with three basic functions of positioning, mapping and planning the path to a robot in indoors with high flexibility and fast movement speed. Specifically, the robot's positioning data is extracted from an IPS indoor positioning system using high-frequency ultrasonic technology. A small error is very suitable for use in the indoor environment. Map creation and analysis function developed based on open-source ROS software devices, combined with a 360-degree scanning LIDAR depth sensor to produce a 2D map with high accuracy of cm. compared with the actual environment. Finally, the popular route searching algorithms currently used are based on the analyzed map data and robot positioning data.

Keywords:

Robot Operating System (ROS), Rviz, Navigation, Simultaneous Localization and Mapping (SLAM)

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