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Exploration of Unknown Environment with Ackerman Mobile Robot Using Robot Operating System (ROS)

M.S., Hendriyawan Achmad and Nur Afzan, Murtdza and Nor Anis Aneza, Lokman and Mohd Razali, Daud and Saifudin, Razali and Pebrianti, Dwi (2015) Exploration of Unknown Environment with Ackerman Mobile Robot Using Robot Operating System (ROS). In: International Conference on Electrical, Control and Computer Engineering 2015, 27-28 Oct 2015 , Kuantan, Pahang. . (Unpublished)

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Abstract

In this paper, authors present a series of work in order to explore unknown environment consists of path and obstacles with the Ackerman model of wheeled mobile robot (car-like). Robot operating system (ROS) used as a basic operation platform to handle the entire of operation, such as sensor interfacing, 2D/3D mapping, and path planning. ROS is an open source framework and huge construction consist of methods. The Ackerman mobile robot is a car-like robot as commonly sees, and what we have been done in this experiment can be applied to the commercial vehicles as a part of autonomous navigation system which is emerge as big issue nowadays. In this work, we had composed robust existing methods to solve the mapping problem with Ackerman mobile robot. It was concluded that the performance of the proposed work is robust for large mapping within unknown construction building.

Item Type: Conference or Workshop Item (Speeches)
Uncontrolled Keywords: mapping, Ackerman mobile robot, robot operating system (ROS).
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 24 Nov 2015 01:41
Last Modified: 05 Feb 2018 07:18
URI: http://umpir.ump.edu.my/id/eprint/11271
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