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
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%.
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
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 26, 2025, https://repository.horizon.ac.id/items/show/3879.
2D mapping using omni-directional mobile robot equipped with LiDAR,” Repository Horizon University Indonesia, accessed April 26, 2025, https://repository.horizon.ac.id/items/show/3879.