Initial RTAB-Map Navigation Analysis for Service Robot

Abstract

A service robot need to have a capability to navigate accurately and to predict their movement that nailed in a reasonable theoretical background. In a robot navigation system, mapping is the most important aspect that must exist and should be reliable to support its normal operation. Moreover, up until now, the demand of a good mapping still become the ultimate challenge for robotic developer and scientist, as the change of environment that caused by the movements of objects which, then, change the landscape setting. We also aim to provide a good mapping for an autonomous robot configuration. In this work, the RTAB-Map provides maps that continuously creates point-cloud. This paper aims to make use the Real-Time Based-Mapping (RTAB-Map) to create map for the operation of a robot that managed by an Open Source Robotic Operating System (ROS) in Turtlebot 2 and 3. Our results show that the RTAB-Map provides a promising guidance for service robot navigation.