Product detail

PatrolBot self driving for map making based on laser and asus depth sensors

BERAN, V. PLASCENCIA, A.

Product type

produkt nebo technologie ve stavu vývoje, testování

Abstract

Autonomous driving for map making of a clutter environments is a complex task due to the robot has to deal with precise measurements of the environment, in other words the robot must have a good field of view of the environment in turn.  This proposal mainly presents the functioning and description of the ROS package called patbot_self_driving that has to do with the navigation of a PatrolBot in the empty area of a indoor environment while making a 2D map by means of a laser hokuyo and a 3D depth asus sensors. In order to extend the functionality of the application, a mapping bagpack solution was mounted on the robot. This solution is novel a way of odometry estimation from velodyne lidar point cloud scans. And, it is able to make a 3D map of the environment by means of two velodyne lidars which are placed on the top with a certain inclination to cover the whole area.

Keywords

ROS, localization, map making

Create date

18. 4. 2018

Location

UPGM

Possibilities of use

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Licence fee

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