- Tytuł:
- Analysis of the surrounding environment using an innovative algorithm based on lidar data on a modular mobile robot
- Autorzy:
-
Giannoccaro, Nicola Ivan
Nishida, Takeshi - Powiązania:
- https://bibliotekanauki.pl/articles/2141892.pdf
- Data publikacji:
- 2020
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
mobile robot
driving module
3D digital map
LiDAR
ROS
SLAM - Opis:
- In this paper, a low cost mobile robot with a modular design that permits the easy change of the number of wheels is considered for generation of 3D digital maps by using ROS tools and a 3D light detection and distance measurement (LiDAR) sensor. The modular robot is thought for travelling through several environments with saving the energy by changing the number and arrangement of the wheels according to the environment. The presented robot can construct a 3D map in particular structured environment and the running performance was investigated by an extensive characterization. Furthermore, in light of the experimental tests, a new simple algorithm based exclusively of the processing of the LiDAR data is proposed with the aim of characterizing the surrounding environment with fixed landmarks and mobile targets. Finally, the limits of this prototype and of the proposed algorithm have been analyzed, highlighting new improvements in the future perspective development for permitting an autonomous environment perception with a simple, modular and low-cost device.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2020, 14, 4; 25-34
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł