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

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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ174-179
ページ数6
ISBN(電子版)9781728116983
DOI
出版ステータスPublished - 2019 8
イベント16th IEEE International Conference on Mechatronics and Automation, ICMA 2019 - Tianjin, China
継続期間: 2019 8 42019 8 7

出版物シリーズ

名前Proceedings 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

ASJC Scopus subject areas

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

フィンガープリント 「Basic Experiments for a Remote Control Robot-Mapping System in Complex Environment」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル