LIDAR based distance estimation for emergency use terrestrial autonomous robot

Abstract

In this research we have proposed the implementation of a Lio-Sam algorithm in the navigation system of an autonomous terrestrial robot. This algorithm is based on the following sensors: Ouster OS1-64 Light Detection and Ranging device (LIDAR) and an XSens MTI 1 Inertial Measurement Unit (IMU). We have opted for this algorithm due to the fact that for the swarm and emergency intervention robots it constitutes a very good solution, especially because it can help us generate a 3D point cloud map of the surroundings. The significant advantage of this solution is that it allows a fast identification of the location of the robot.