ROS-Based Evaluation of SLAM Algorithms and Autonomous Navigation for a Mecanum Wheeled Robot

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ROS-Based Evaluation of SLAM Algorithms and Autonomous Navigation for a Mecanum Wheeled Robot

Dhayanithi, Pranav Vikirtan / Mohanraj, Thangamuthu

Robot navigation is one of the most important aspects of robotics. A map of the environment and path planning based on the obstacle avoidance and optimal path algorithm are required for any robot to successfully navigate in a environment. This study investigates GMapping and Cartographer SLAM approaches and analyzes the results based on map accuracy, perception, 3D mapping, and localization. Autonomous navigation based on ROS core system is also tested for a mecanum wheel robot with respect to the performances of suitable SLAM navigated through an environment with static and dynamic obstacles.

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Document information

Title :

ROS-Based Evaluation of SLAM Algorithms and Autonomous Navigation for a Mecanum Wheeled Robot

Additional title:

Lect. Notes Electrical Eng.

Contributors:

Sharma, Sanjay (editor) / Subudhi, Bidyadhar (editor) / Sahu, Umesh Kumar (editor) / Dhayanithi, Pranav Vikirtan (author) / Mohanraj, Thangamuthu (author)

Conference:

International Conference on Robotics, Control, Automation and Artificial Intelligence ; 2022 November 24, 2022 - November 26, 2022

Published in:

Intelligent Control, Robotics, and Industrial Automation ; Chapter : 2 ; 13-24

Lecture Notes in Electrical Engineering ; 1066

Publication date :

2023-11-18

Size :

12 pages

ISBN :

978-981-99-4634-1 , 978-981-99-4633-4

ISSN :