Study of ROS Based Localization and Mapping for Closed Area Survey

摘要

This paper aims to evaluate the efficiency of the survey robot in the closed area based on Turtlebot3 and Robot Operating System (ROS) in order to survey and mapping the inaccessible area such as old building, a disaster area and tunnel. The Laser Scanner was used for detecting the environment around the survey robot and the GMapping algorithm in ROS was used to generate the map. The experiment was divided into two parts. Firstly, surveying and generating a map. Second, using the completed SLAM algorithm to identify the automatic movement of the survey robot. The results showed that the robot is able to survey narrow and closed areas, by adjusting the Inflation Radius value to suitable value that depend on the width of tube. Moreover, adjusting the suitable Cost Scaling Factor make the robot can avoid the obstacle environment and be able to identify effective movement of the survey robot when the mapping is completed.