Simulation of Lidar-Based Robot Detection Task using ROS and Gazebo

Öz

In the last few decades, the robotics world has seen great progress at all levels, from personal assistant robots to multi-robotic and intelligent swarm systems. Simulation platforms play a critical role in this improvement due to efficiency, flexibility, and fault tolerance they provide during the cycles of developing and testing new strategies and algorithms. In this paper, we model a new mobile robot equipped with a 2D Lidar using Robot Operating System (ROS) and use this robot model to develop a robot detection method in Gazebo simulation environment. Detecting surrounding objects and distinguishing robots from these objects (kin detection) are essential in multi-robot and swarm robotic applications. In this paper, we use Lidar to handle this task by applying the following steps: (1) acquisition of laser data and pre-processing, (2) segmentation of data using the point-distance-based segmentation method, (3) classification of segments by applying two levels of filtering: filtering by segment diameter which aims to eliminate segments that don’t fit a certain size (Lidar size) using features for each segment, filtering by segment shape to check remaining segments to test if they fit the Lidar's shape (which is a circle with known radius) or not by using the circle fitting method and (4) identify the position of kin relative to the observer robot. Two different scenarios are discussed in the experiments section. In the first scenario, many cylindrical objects with radius different from the robot’s Lidar were used in addition to a robot, and thus objects are distinguished from the robot in the first level of filtering without using the second one which may be a complex operation. In the second scenario, various objects with a similar radius were used, and due to the similarity in the radius between the Lidar and the objects, it was necessary to apply all the method’s steps to detect the kin robots. It was noticed from experiments that the accuracy of the results depends on two main factors: the distance between the observer robot and other objects or robots and the amount of noise in the Lidar measurements.

Anahtar Kelimeler

• Robot detection
• Kin detection
• Lidar
• ROS
• Gazebo
• Robotics

ROS ve Gazebo Kullanarak Lidar Tabanlı Robot Tespit Görevinin Simülasyonu

Öz

Son birkaç on yılda, robotik dünyası, kişisel asistan robotlardan çoklu robotik ve akıllı sürü sistemlerine kadar her seviyede büyük ilerleme gördü. Simülasyon platformları, yeni stratejiler ve algoritmalar geliştirme ve test etme döngüleri sırasında sağladıkları verimlilik, esneklik ve hata toleransı nedeniyle bu gelişmede kritik bir rol oynamaktadır. Bu makalede, Robot İşletim Sistemi'ni (ROS) kullanarak 2D lazerli telemetre ile donatılmış yeni bir mobil robot modelliyoruz ve bu robot modelini Gazebo simülasyon ortamında bir robot algılama yöntemi geliştirmek için kullanıyoruz. Çevredeki nesneleri algılamak ve robotları bu nesnelerden ayırt etmek (kin algılama), çoklu robot ve sürü robotik uygulamalarda çok önemlidir. Bu makalede, robot algılama görevini yerine getirmek için Lidar kullanılarak aşağıdaki adımları uygulamaktadır: (1) lazer verilerinin elde edilmesi ve ön işleme, (2) nokta-mesafeye dayalı segmentasyon yöntemini kullanarak verinin segmentlere ayrılması, (3) iki filtreleme seviyesi uygulayarak segmentlerin sınıflandırılması: her bölüm için özellikler kullanarak belirli bir boyuta (Lidar boyutu) uymayan bölümleri ortadan kaldırmayı amaçlayan bölüm çapına göre filtreleme yapmak, kalan parçaları Lidar'ın şekline uyup uymadığını (bilinen yarıçapı olan bir daire) test etmek için segment şekline göre filtreleme ve (4) gözlemci robota göre komşu robotun pozisyonunu tanımlar. Deneyler bölümünde iki farklı senaryo ele alınmıştır. İlk senaryoda, bir robotun yanı sıra, robotun Lidar'ından farklı yarıçapa sahip birçok silindirik nesne kullanılmış ve bu nedenle nesneler, ikinci bir karmaşık işlem olabilecek ikinci filtreyi kullanmadan, ilk filtreleme düzeyinde robottan ayrılmıştır. İkinci senaryoda, benzer yarıçapa sahip çeşitli nesneler kullanıldı ve Lidar ile nesneler arasındaki yarıçaptaki benzerlik nedeniyle, kin robotları tespit etmek için tüm yöntemin adımlarını uygulamak gerekliydi. Deneylerden, sonuçların doğruluğunun iki ana faktöre bağlı olduğu gözlenmiştir: gözlemci robotu ile diğer nesneler veya robotlar arasındaki mesafe ve Lidar ölçümlerindeki gürültü miktarı.

Anahtar Kelimeler

• Robot tespiti
• Soydaş tespiti
• Lidar
• ROS
• Gazebo
• Robotik

Kaynakça

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