Autonomous Differential Drive Mobile Robot Navigation with SLAM, AMCL using ROS

Authors

  • Rahul S. Pol Vishwakarma Institute of Information Technology, Pune, India
  • Vijaya N. Aher Vishwakarma Institute of Information Technology, Pune, India
  • Sandeep V. Gaikwad SCTR’s Pune Institute of Computer Technology, Pune, India
  • Daulappa G. Bhalke Dr. D. Y. Patil Institute of Technology Pimpri, Pune
  • Ajay Yadaorao Borkar Cusrow Wadia Institute of Technology, Pune
  • Mahesh T. Kolte Pimpri Chinchwad College of Engineering Pune

Abstract

Today world is marching towards high degree of industry automation along with intelligence integration. Many industries uplifting their traditional machine work to smart robotic operating system (ROS-1) based mobile robotic automation. This paper discuss the autonomous robotic navigation which is the most important part of robotic automation, it includes simultaneous-localization-and-mapping (SLAM) implemented through robotic operating system to understand the necessary workspace along with exploration of shortest low coast path within workspace. Multiple algorithms now a day available which explores collision free navigation path to reach the goal position without disturbing in-path obstacles. This paper elaborate the method combining ROS based SLAM along with vision sensory based AMCL and the DWA path planning technique which continuously capture the workspace and localize all moving and static obstacles along with robot. The experimented result shows the explored path is safe and collision free which is feed to a controller program to continuously govern autonomous mobile robots by utilizing prior knowledge of workspace and robots mechanism.

Downloads

Download data is not yet available.

References

J. Huang, H. Durrant-Whyte and T. Bailey [2008]: "Simultaneous Localization and Mapping with Unknown Data Association for Differential Drive Robots" in IEEE Transactions on Robotics, vol. 24, no. 2, pp. 372-381.

Kim, K. and Hwang, Y. (2021): "Hector SLAM-based Navigation for a Differential-Drive Mobile Robot in Indoor Environment", Sensors, 21(3), 852.

Mr. Rahul S. Pol, Dr. B. Sheela Rani. Dr. M. Murugan, " Realistic Optimal Path Planning Algorithm for Indoor Real-time Mobile Robot Navigation", International Journal of this b Engineeirng, ISSN: 1540-9589 (Print Version) ISSN: 1544-5976 (Online Version), vol 17 No. 6 (pp 3662-3688)

Mr. Rahul S. Pol, Dr. B. Sheela Rani. Dr. M. Murugan, “Socio-realistic optimal path planning for indoor real-time autonomous mobile robot navigation" International Journal of Vehicle Autonomous system Volume 15 Issue 2: 2020. Print ISSN: 1471-0226 Online ISSN: 1741-5306

Dr. Rahul S Pol, Dr. B. Sheela Rani, Prof M. Murugan(2021). Optimal Path Planner for Indoor Mobile Robot Environment. Design Engineering, 8297-8309.

Dr. Rahul Shivaji Pol, Dr. Shailesh V. Kulkarni, Dr. Rajendra. S. Talware, Dr. Pravin G Gawande. (2021). Grid Based Realistic Optimal Path Planning. Design Engineering, 11987 - 12002.

Singh, S. K., Kumar, R., & Singh, S. P. (2019). Hector SLAM Based Autonomous Navigation of Mobile Robot. International Journal of Emerging Trends in Engineering Research, 7(9), 109-113.

Y. Liu and J. Zhou (2019): "A Comparative Study of Hector SLAM and GraphSLAM for Differential-Drive Mobile Robot Navigation" in Proceedings of the 2019 IEEE International Conference on Mechatronics and Automation (ICMA).

R. Kumar, S. K. Singh and S. P. Singh [2019]: "Comparative Study of Hector SLAM and Gmapping for Autonomous Navigation of Mobile Robot", International Journal of Control Theory and Applications.

M. Sharifi, H. K. Mousavi, and S. Behbahani (2018): "Comparative Study of Hector SLAM and GMapping for Autonomous Navigation of Differential-Drive Robots".

Mr. Rahul S. Pol, Dr. B. Sheela Rani. Dr. M. Murugan, "Unoccupied Floor Extraction in Autonomous Mobile Robot Navigation" Journal of Electronic Design and Technology Volume 8 Issue 2: 2017 .

Mr. Rahul S Pol, Prof M. Murugan, 'A Sensor Fusion Based Person Detection System', International Journal of Applied Engineering Research (IJAER),5th to 6th March 2015,Print ISSN 0973-4562. Online ISSN 1087--1090, pp.8673-8675

M. Bosse, P. Newman, and J. Leonard [2004]: Publication journal - The International Journal of Robotics Research ‘Simultaneous Localization and Map Building in Large-Scale Cyclic Environments Using the Atlas Framework’, International Journal of Robotics Research, 23(12), pp. 1113-1139, December 2004

Mr.Rahul S Pol, Prof M. Murugan, 'A Review on Indoor Human Aware Autonomous Mobile Robot Navigation Through a Dynamic Environment', International Conference on Industrial Instrumentation and Control (ICIC 2015), held by Government college of engineeing Pune, ICIC2015, 28th-30th May 2015, pp-987

Dr. Rahul S Pol, Dr. B. Sheela Rani, Prof M. Murugan (2021). Optimal Path Planner for Indoor Mobile Robot Environment. Design Engineering, 8297-8309.

Mane, P. B. et al. (2017). Watermarking and cryptography based image authentication on reconfigurable platform. Bulletin of Electrical Engineering and Informatics, 6(2), 181-187.

Mandwale, A. J. et al. (2015, January). Different Approaches For Implementation of Viterbi decoder on reconfigurable platform. In 2015 International Conference on Pervasive Computing (ICPC) (pp. 1-4). IEEE.

Mane, P. B., & Mulani, A. O. (2018). High speed area efficient FPGA implementation of AES algorithm. International Journal of Reconfigurable and Embedded Systems, 7(3), 157-165.

Kashid, M. M et al. (2022, November). IoT-Based Environmental Parameter Monitoring Using Machine Learning Approach. In Proceedings of the International Conference on Cognitive and Intelligent Computing: ICCIC 2021, Volume 1 (pp. 43-51). Singapore: Springer Nature Singapore.

Abd-el-Kader, M. F. and Hassanien, A. E. (2018): "Adaptive Monte Carlo Localization for Mobile Robot Navigation in Large-Scale Environments", International Journal of Advanced Computer Science and Applications (IJACSA), Vol. 9, No. 9.

Lim, D., Kim, J., & Kim, S. (2016). ROS-Based Navigation of Mobile Robots in Dynamic Human Environments. Sensors, 16(2), 201.

S.Gunasagaran1 , K.Kamarudin1,2, A.S.A.Yeon2 , R.Visvanathan2 , S.M.Mamduh2 and A.Zakaria1,2, “ Implementation of Mobile Robot Localisation and Path Planning for Navigation in Known Map” , Journal of Telecommunication, Electronic and Computer Engineering, e-ISSN: 2289-8131, Vol. 10 No. 1-15

Z. Zhan and W. Chen [2018]: "An Improved Adaptive Monte Carlo Localization Algorithm for Mobile Robot Navigation", IEEE Access.

Yonggang Li , Rencai Jin , Xiangrong Xu, Yuandi Qian, AND Zhixiong Wang5, “A Mobile Robot Path Planning Algorithm Based on Improved A∗ Algorithm and Dynamic Window Approach”, 2022, IEEE Access, Vol 10, pp. 57736-57747

T. Caselitz, S. Fuchs, A. Schneider and H. Gross [2015]: "Real-Time 3D Mapping with a Low-Cost Differential Drive Robot", Sensors, vol. 15, no. 11, pp. 28905-28927.

R. Vargas, M. Maldonado and J. Guivant [2007]: Map Building and Localization in Mobile Robots with Differential Drive, IEEE Latin America Transactions, vol. 5, no. 1, pp. 16-22.

Huamaní, E. L. ., Meneses-Claudio, B. ., Velarde-Molina, J. F. ., Mirji, H. ., & Orellano-Benancio, L. . (2023). Design of a Web Portal for Assertive Diagnosis and Cognitive Evolution in Children with Special Abilities. International Journal on Recent and Innovation Trends in Computing and Communication, 11(3), 186–190. https://doi.org/10.17762/ijritcc.v11i3.6334

Taylor, D., Roberts, R., Rodriguez, A., González, M., & Pérez, L. Efficient Course Scheduling in Engineering Education using Machine Learning. Kuwait Journal of Machine Learning, 1(2). Retrieved from http://kuwaitjournals.com/index.php/kjml/article/view/121

Kumar, S. A. S., Naveen, R., Dhabliya, D., Shankar, B. M., & Rajesh, B. N. (2020). Electronic currency note sterilizer machine. Paper presented at the Materials Today: Proceedings, 37(Part 2) 1442-1444. doi:10.1016/j.matpr.2020.07.064 Retrieved from www.scopus.com

Downloads

Published

24.11.2023

How to Cite

Pol, R. S. ., Aher, V. N. ., Gaikwad, S. V. ., Bhalke, D. G. . ., Borkar, A. Y. ., & Kolte, M. T. . (2023). Autonomous Differential Drive Mobile Robot Navigation with SLAM, AMCL using ROS. International Journal of Intelligent Systems and Applications in Engineering, 12(5s), 46–53. Retrieved from https://ijisae.org/index.php/IJISAE/article/view/3820

Issue

Vol. 12 No. 5s (2024)

Section

Research Article

License

Creative Commons License

This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

All papers should be submitted electronically. All submitted manuscripts must be original work that is not under submission at another journal or under consideration for publication in another form, such as a monograph or chapter of a book. Authors of submitted papers are obligated not to submit their paper for publication elsewhere until an editorial decision is rendered on their submission. Further, authors of accepted papers are prohibited from publishing the results in other publications that appear before the paper is published in the Journal unless they receive approval for doing so from the Editor-In-Chief.

IJISAE open access articles are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License. This license lets the audience to give appropriate credit, provide a link to the license, and indicate if changes were made and if they remix, transform, or build upon the material, they must distribute contributions under the same license as the original.

Most read articles by the same author(s)