Year 2014,
, 71 - 75, 24.12.2014
Abstract
The presented work describes a ROS based control system of a Turtlebot robot for mapping and navigation in indoor environments. It presents the navigation of Turtlebot in self-created environment. The mapping process is done by using the GMapping algorithm, which is an open source algorithm and the localization process is done by using the AMCL pack. There are ROS built functions used in order to perform navigation of Turtlebot. The SLAM method implemented in ROS has proven a way for robots to do localization and mapping autonomously. The aim defined in paper to fulfill mapping, localization and navigation of Turtlebot in new and unknown environment is achieved.
Keywords
References
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- S. Cousins, "Welcome to ROS Topics", IEEE ROBOTICS & AUTOMATION MAGAZINE, March 2010.
- S. Riisgaard, M. Rufus Blas, “SLAM for Dummies, A Tutorial Approach to Simultaneous Localization and Mapping, Massachusetts Institute of Technology”, [Online], Available: http://ocw.mit.edu/courses/aeronautics-and-astronautics/16-412j-cognitive-robotics-spring-2005/projects/1aslam_blas_repo.pdf
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- P. Avdullahu, “Turtlebot control, mapping and localization via ROS”, Master Thesis, University of Prishtina, Kosovo, 2014.
Year 2014,
, 71 - 75, 24.12.2014
Abstract
References
- “The free dictionary”. [Online]. Available at http://www.thefreedictionary.com
- Steve Cousins, Brian Gerkey, Ken Conley, and Willow Garage: Sharing Software with ROS, IEEE Robotics & Automation Magazine, June 2010.
- Steve Cousins: Is ROS Good for Robotics? IEEE Robotics & Automation Magazine, June 2012.
- Steve Cousins: Welcome to ROS Topics: EEE Robotics & Automation Magazine, March 2012.
- http://www.willowgarage.com/turtlebot
- S. Thrun, B. Wolfram and D. Fox, “Probabilistic robotics”, Cambridge, MIT Press, 2006.
- "ROS.org". [Online]. Available: http://wiki.ros.org/. [Accessed 19.09.2013].
- S. Cousins, "Welcome to ROS Topics", IEEE ROBOTICS & AUTOMATION MAGAZINE, March 2010.
- S. Riisgaard, M. Rufus Blas, “SLAM for Dummies, A Tutorial Approach to Simultaneous Localization and Mapping, Massachusetts Institute of Technology”, [Online], Available: http://ocw.mit.edu/courses/aeronautics-and-astronautics/16-412j-cognitive-robotics-spring-2005/projects/1aslam_blas_repo.pdf
- E. Marder-Eppstein, E. Berger, T. Foote, B. P. Gerkey, and K. Konolige, “The Office Marathon: Robust Navigation in an Indoor Office Environment”, In International Conference on Robotics and Automation (ICRA), Anchorage, AK, USA, 2010.
- P. Avdullahu, “Turtlebot control, mapping and localization via ROS”, Master Thesis, University of Prishtina, Kosovo, 2014.
There are 11 citations in total.
Details
| Primary Language | English |
|---|---|
| Journal Section | Research Article |
| Authors | |
| Publication Date | December 24, 2014 |
| Published in Issue | Year 2014 |