Development of non-Platform Mobile Robot for Simultaneous Localization And Mapping Using ROS

摘要

The development of the world of robotics lately is developing very rapidly, especially in autonomous driving is quickly becoming a big challenge in the world of robotics technology, localization, and simultaneous mapping has always been a problem in subject of conversation, not only is pose estimation and space recognition one of them. This final project presents ideas for implementing Simultaneous Localization and Mapping (SLAM) packages on multi-robot systems equipped with Light Detection and Ranging (LIDAR) sensors and Single Board Computer (SBC) as well as the soft-architecture architecture of the Robot Operating System (ROS) platform. This final project will discuss and design the SLAM Cartographer package which is supported by the ROS software platform. There are Rviz tools to perform or display parameters that support and assist in localizing and mapping space on multi robots by processing LIDAR sensor input data such as values odometry, an Inertial Measurement Unit (IMU), and trajectories. This design model is designed to produce localization and mapping on multi robots, and this design is implemented to provide useful evidence to ensure SLAM package cartographers can be used or one of the best packages because it can process LIDAR values into IMU values for localization and mapping in realtime in real-time simultaneous implementation of an effective and efficient SLAM with 83% object detection distance accuracy and 100% space representation map and average detection accuracy of the number of objects in a room 95.4%.