TELKOMNIKA Telecommunication, Computing, Electronics and Control
2D mapping using omni-directional mobile robot equipped with LiDAR

Dublin Core

Title

TELKOMNIKA Telecommunication, Computing, Electronics and Control
2D mapping using omni-directional mobile robot equipped with LiDAR

Subject

2D mapping, LiDAR, Omni-directional mobile robot, SLAM

Description

A room map in a robot environment is needed because it can facilitate
localization, automatic navigation, and also object searching. In addition,
when a room is difficult to reach, maps can provide information that is helpful to humans. In this study, an omni-directional mobile robot equipped with a LiDAR sensor has been developed for 2D mapping a room. The YDLiDAR X4 sensor is used as an indoor scanner. Raspberry Pi 3 B single board computer (SBC) is used to access LiDAR data and then send it to a computer wirelessly for processing into a map. This computer and SBC are integrated in robot operating system (ROS). The movement of the robot can use manual control or automatic navigation to explore the room. The Hector SLAM algorithm determines the position of the robot based on scan matching of the LiDAR data. The LiDAR data will be used to determine the obstacles encountered by the robot. These obstacles will be represented in occupancy grid mapping. The experimental results show that the robot is able to follow the wall using PID control. The robot can move automatically to construct maps of the actual room with an error rate of 4.59%.

Creator

Muhammad Rivai, Dony Hutabarat, Zishwa Muhammad Jauhar Nafis

Source

DOI: 10.12928/TELKOMNIKA.v18i3.14872

Publisher

Universitas Ahmad Dahlan

Date

June 2020

Contributor

Sri Wahyuni

Rights

ISSN: 1693-6930

Relation

http://journal.uad.ac.id/index.php/TELKOMNIKA

Format

PDF

Language

English

Type

Text

Coverage

TELKOMNIKA Telecommunication, Computing, Electronics and Control

Files

Collection

Tags

,Repository, Repository Horizon University Indonesia, Repository Universitas Horizon Indonesia, Horizon.ac.id, Horizon University Indonesia, Universitas Horizon Indonesia, HorizonU, Repo Horizon , ,Repository, Repository Horizon University Indonesia, Repository Universitas Horizon Indonesia, Horizon.ac.id, Horizon University Indonesia, Universitas Horizon Indonesia, HorizonU, Repo Horizon , ,Repository, Repository Horizon University Indonesia, Repository Universitas Horizon Indonesia, Horizon.ac.id, Horizon University Indonesia, Universitas Horizon Indonesia, HorizonU, Repo Horizon , ,Repository, Repository Horizon University Indonesia, Repository Universitas Horizon Indonesia, Horizon.ac.id, Horizon University Indonesia, Universitas Horizon Indonesia, HorizonU, Repo Horizon ,

Citation

Muhammad Rivai, Dony Hutabarat, Zishwa Muhammad Jauhar Nafis, “TELKOMNIKA Telecommunication, Computing, Electronics and Control
2D mapping using omni-directional mobile robot equipped with LiDAR,” Repository Horizon University Indonesia, accessed April 3, 2025, https://repository.horizon.ac.id/items/show/3879.