Autonomous mobile robot exploration in negative obstacle environment Çukurlu Ortamda Otonom Mobil Robot ile Keşif

Keskin N., USLU E., ÇAKMAK F., Altuntas N., AMASYALI M. F., YAVUZ S.

25th Signal Processing and Communications Applications Conference, SIU 2017, Antalya, Turkey, 15 - 18 May 2017 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/siu.2017.7960260
  • City: Antalya
  • Country: Turkey
  • Keywords: 2D exploration, 2D localization, 2D navigation, 3D mapping, autonomous mobile robot, negative obstacles, OctoMap
  • Istanbul Gelisim University Affiliated: No

Abstract

Restricted 3D simultaneous localization and mapping (SLAM) can be achived in an environment that has negative and positive obstacles, using a 2D SLAM and a 3D mapping together. Exploration can utilize 2D navigation, which uses a 2D map constructed with respect to 3D map obstacles both negative and positive, and free areas. Robocup, Rescue League, Exploration 4 competition is designed to measure real platform autonomous mobile robot exploration capabilities in an negative obstacle scene. In this paper aforementioned exploration approach is implemented in a simulation environment created in Gazebo similar to Exploration 4 arena, using Robot Operating System (ROS).