Basic Experiments for a Remote Control Robot-Mapping System in Complex Environment

Li Ke, Tingxin Song, Nattawat Pinrath, Darren Phang Ren Yee, Nobuto Matsuhira

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Simultaneous localization and mapping (SLAM) constitutes the core challenge in autonomous navigation while avoiding obstacles for mobile robots. Traditional robots require close-range operators during mapping, and remote control remains difficult in a complex environment. Furthermore, the height of sensors limits the detection of small obstacles in 2D mapping. This paper presents a robot system that solves these problems. The system operates SLAM remotely, navigates narrow paths, and estimates the location of small obstacles beyond the detection range of 2D lidar. The experiments utilized the Robot Operating System and an open source GMapping software package. Lidar, a camera, and an inertial measurement sensor unit enabled the remote monitoring of the robot in real-time via Rivz, Rqt, and V-rep. Experiment results demonstrate the advantageous operability and reliability of the system.

Original languageEnglish
Title of host publicationProceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages174-179
Number of pages6
ISBN (Electronic)9781728116983
DOIs
Publication statusPublished - 2019 Aug 1
Event16th IEEE International Conference on Mechatronics and Automation, ICMA 2019 - Tianjin, China
Duration: 2019 Aug 42019 Aug 7

Publication series

NameProceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019

Conference

Conference16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
CountryChina
CityTianjin
Period19/8/419/8/7

    Fingerprint

Keywords

  • GMapping
  • IMU sensor
  • Mobile robot
  • Ros
  • Simultaneous localization and mapping

ASJC Scopus subject areas

  • Signal Processing
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence

Cite this

Ke, L., Song, T., Pinrath, N., Yee, D. P. R., & Matsuhira, N. (2019). Basic Experiments for a Remote Control Robot-Mapping System in Complex Environment. In Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019 (pp. 174-179). [8816250] (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2019.8816250