dc.contributor.author |
Diddeniya, S.I.A.P. |
|
dc.contributor.author |
Wanniarachchi, W.K.I.L. |
|
dc.contributor.author |
De Silva, P.R.S. |
|
dc.contributor.author |
Ganegoda, N.C. |
|
dc.date.accessioned |
2022-08-10T06:25:15Z |
|
dc.date.available |
2022-08-10T06:25:15Z |
|
dc.date.issued |
2018 |
|
dc.identifier.citation |
Diddeniya, S.I.A.P., et al. (2018). A STUDY ON MAPPING, LOCALIZATION AND AUTONOMOUS NAVIGATION WITH iROBOT CREATE 2 ON ROS INDIG. Proceedings of the 5th International Conference on Multidisciplinary Approaches – 2018 |
en_US |
dc.identifier.uri |
http://dr.lib.sjp.ac.lk/handle/123456789/11583 |
|
dc.description.abstract |
This paper proposes a movable robot that can be used to deliver documents between employees
of an unstructured indoor office environment. The study reviews literature on robot navigation,
apply promising techniques and test their accuracy in an unstructured indoor laboratory
environment. There are many technologies available in robot navigation. We have selected free
and open source software and inexpensive sensors and materials to build a low cost but accurate
robot. Our system comprised of two units: one that process sensor data and another which is
the navigating robot having sensors and actuators. We have used Robotic Operating System
(ROS) indigo as the ground operating system. iRobot Create 2 was used as the basic robot and
a structure was built to carry a mini PC, power cables and the vision sensor. PrimeSense, the
vision sensor for our robot uses IR to measure distance. The processing unit was a workstation
computer that was kept still. Two parts mainly communicated through a Wi-Fi connection. We
have conducted an experiment to examine the capabilities of the setup and studied its
behaviour, mapping and localization specifically. An unstructured indoor environment was
selected with five users located on the sides. We considered both dark and light illumination
conditions on the room. Then, we allowed the robot to navigate autonomously and randomly
between users and monitored its accuracy by looking at the completion of the route to a target
user. Results show that the robot has about 92% of accuracy on average in both lighting
conditions and 88% and 96% of accuracies for light and dark conditions respectively. Finally
this system could be practically used in an office environment in any illumination condition. |
en_US |
dc.language.iso |
en |
en_US |
dc.publisher |
Faculty of Graduate Studies, University of Sri Jayewardenepura |
en_US |
dc.subject |
Indoor robot navigation, Robotic operating system, wireless robot navigation, environment mapping, robot localization |
en_US |
dc.title |
A STUDY ON MAPPING, LOCALIZATION AND AUTONOMOUS NAVIGATION WITH iROBOT CREATE 2 ON ROS INDIG |
en_US |
dc.type |
Article |
en_US |