B. Balasuriya, B. A. H. Chathuranga, B. Jayasundara, N. Napagoda, S. Kumarawadu, D. P. Chandima, A. Jayasekara
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引用次数: 47
摘要
本文介绍了利用ROS(机器人操作系统)设计和实现可在未知室外环境中导航的履带式自主导航机器人的完整方法。该概念基于使用SLAM (Simultaneous Localization and mapping) gmap算法的制图过程。本文给出了机器人在ROS平台上的实现，并给出了实验结果，验证了算法的准确性。
Outdoor robot navigation using Gmapping based SLAM algorithm
This paper presents the complete methodology followed in designing and implementing a tracked autonomous navigation robot which can navigate through an unknown outdoor environment using ROS (Robot Operating System). The concept is based on the mapping process using SLAM (Simultaneous Localization and Mapping) GMapping Algorithm. Implementation of the robot on the ROS platform is presented in this paper and experimental results are also presented validating the accuracy of the algorithm.
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