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Mapping of unknown industrial plant using ROS-based navigation mobile robot

Priyandoko, Gigih and Ming, T. Y. and Achmad, Hendriyawan (2017) Mapping of unknown industrial plant using ROS-based navigation mobile robot. In: IOP Conference Series: Materials Science and Engineering, 4th International Conference on Mechanical Engineering Research (ICMER2017), 1-2 August 2017 , Kuantan, Pahang, Malaysia. pp. 1-6., 257 (012088).

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Abstract

This research examines how humans work with teleoperated unmanned mobile robot inspection in industrial plant area resulting 2D/3D map for further critical evaluation. This experiment focuses on two parts, the way human-robot doing remote interactions using robust method and the way robot perceives the environment surround as a 2D/3D perspective map. ROS (robot operating system) as a tool was utilized in the development and implementation during the research which comes up with robust data communication method in the form of messages and topics. RGBD SLAM performs the visual mapping function to construct 2D/3D map using Kinect sensor. The results showed that the mobile robot-based teleoperated system are successful to extend human perspective in term of remote surveillance in large area of industrial plant. It was concluded that the proposed work is robust solution for large mapping within an unknown construction building.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: Engineering research; Human robot interaction; Industrial plants; Industrial research; Mapping; Mobile robots
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Mechanical Engineering
Depositing User: Noorul Farina Arifin
Date Deposited: 18 Jul 2019 07:40
Last Modified: 18 Jul 2019 07:40
URI: http://umpir.ump.edu.my/id/eprint/25447
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