Mapping the environment in a closed room using a mobile robot

Abstract

This paper proposes the author's design of a mobile robot intended for creating a two-dimensional map of the environment. The first part of the paper describes the scope of automated systems called robots. On this basis, the design assumptions of the author's robot were defined, the components used in the construction are shown, the operation of the Robot Operating System (ROS) and the packages used in this robot control system are presented. The main idea, which was to govern the project was its low manufacturing cost. Thus, the use of the optical system of the Kinect device. As a result. the operation of the algorithm controlling the robot via the ATmega328 microcontroller is demonstrated. The results of the experimental verification of the robot's performance are presented in the form of two-dimensional maps of the rooms in which the experiments were carried out.