Cost Effective Mobile Robots Navigation and Mapping System for Education

2020 Intermountain Engineering, Technology and Computing (IETC) Pub Date : 2020-10-02 DOI:10.1109/IETC47856.2020.9249154

G. G. Jaman, Nusrat Farheen, M. Schoen

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Abstract

The study of mobile robot(s) based applications recently gained much popularity in academic settings. Different types of locomotion techniques exist for mobile robots, among them, wheeled robots are popular for educational purposes. Mobile robot applications may consist of single or multiple robot units. Some of the key issues to be addressed in mobile robot navigation are related to the condition of the underlying terrains, obstacles, localizations, mapping, and communication, among others. In many robotics related academic course works, students are often required to apply mobile robot localization and mapping capabilities in order to meet robot task objectives. This paper addresses an obstacle free scenario with a planar platform and presents cost-effective techniques for mobile robot localization and mapping. The paper includes a review of general fixed wheeled robot dynamics, addresses simple navigation techniques based on a given reference location for standard wheeled robots, and discusses strategies for building mapping configurations. In addition, constraints and troubleshoot approaches across different types of sensors used for mapping are presented.

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具有成本效益的教育用移动机器人导航和测绘系统

基于移动机器人的应用研究最近在学术环境中受到了广泛的欢迎。移动机器人有不同类型的运动技术，其中轮式机器人很受欢迎，用于教育目的。移动机器人应用可以由单个或多个机器人单元组成。移动机器人导航中需要解决的一些关键问题与底层地形的条件、障碍物、定位、映射和通信等有关。在许多与机器人相关的学术课程中，学生经常需要应用移动机器人的定位和映射能力，以满足机器人的任务目标。本文研究了一种基于平面平台的无障碍物场景，提出了一种具有成本效益的移动机器人定位和映射技术。本文综述了一般固定轮式机器人动力学，介绍了基于给定参考位置的标准轮式机器人的简单导航技术，并讨论了构建映射配置的策略。此外，还介绍了用于映射的不同类型传感器之间的约束和故障排除方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2020 Intermountain Engineering, Technology and Computing (IETC)

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