Mobile Robot Terrain Mapping for Path Planning using Karto Slam and Gmapping Technique

Kumar NT, Sanju and Gawande, Malika and M, Naga Praveen Babu and Verma, Harshal and Rajalakshmi, P (2022) Mobile Robot Terrain Mapping for Path Planning using Karto Slam and Gmapping Technique. In: 2022 IEEE Global Conference on Computing, Power and Communication Technologies, GlobConPT 2022, 23- 25 September 2022, New Delhi.

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Abstract

Mapping is one of the mobile robot's most basic applications. A mobile robot's sensors, such as a laser sensor, sonar, and camera, are used to create the map. Most mapping techniques use simultaneous localization and Mapping (SLAM). SLAM allows for creating a map and the localization of the robot's position on it. This research compares the trajectories of a mobile robot created by several ROS-based SLAM systems. And also, GMapping and Karto SLAM are two well-known SLAM algorithms employed. The mobile robot is equipped with 2D lidar and monocular camera. The mapping is done at two distinct locations, in labs of varying sizes with varying numbers of static and dynamic objects. Three test runs are conducted for GMapping to examine the effects of various variables on mapping quality, including particle filter, mapping delay, and robot speed. The results show a significant difference in operation completion time and mapping accuracy as a result of the parameter changing over the three test runs. Due to the improved accuracy of the parameter used in the second test run of GMapping and Karto SLAM, the accuracy of the maps is the basis for this improvement. On the other hand, the second test run with robot particle filter 30, mapping delay 1, and speed 0.13m/s is thought to be the best3\2 13Q/0. © 2022 IEEE.

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IITH Creators:

IITH Creators	ORCiD
Rajalakshmi, P	https://orcid.org/0000-0002-7252-6728

Item Type:

Conference or Workshop Item (Paper)

Additional Information:

ACKNOWLEDGMENT We would like to express our gratitude to the DST National Mission Interdisciplinary Cyber-Physical Systems (NM-ICPS) Technology Innovation Hub on Autonomous Navigation and Data Acquisition Systems for providing us with the opportunity to work on the research on the mobile robot. This research was supported by the TiHAN Foundations at the Indian Institute of Technology (IIT) in Hyderabad.

Uncontrolled Keywords:

GMapping; Karto Slam; LiDAR; Particle Filter; ROS; RViz; SLAM; terrain mapping

Subjects:

Electrical Engineering

Divisions:

Department of Electrical Engineering

Depositing User:

Ms Palak Jain

Date Deposited:

22 May 2023 09:25

Last Modified:

22 May 2023 09:25