ROS-based mapping, localization and autonomous navigation using a Pioneer 3-DX robot and their relevant issues

摘要

The Robot Operating System (ROS) provides operating system-like services to operate robots. Mapping, localization, and autonomous navigation in an indoor environment are popular issues in the field of autonomous robots. Autonomous navigation in a dynamic environment is not only challenging but also uncovers many indoor environmental factors which affect the process of mapping and navigation. The presented work describes how a ROS-based control system is used with a Pioneer 3-DX robot for indoor mapping, localization, and autonomous navigation. Mapping of different challenging environments is presented in this work. Moreover, some factors associated with indoor environments that can affect mapping, localization, and automatic navigation, are also presented. For experiments, three environments (one artificial and two real) have been tested. Some implementation was done in C and Python.