{"title":"先锋3-DX机器人基于ros的制图、定位和自主导航及其相关问题","authors":"S. Zaman, W. Slany, Gerald Steinbauer","doi":"10.1109/SIECPC.2011.5876943","DOIUrl":null,"url":null,"abstract":"The Robot Operating System (ROS) provides operating system-like services to operate robots. Mapping, localization, and autonomous navigation in an indoor environment are popular issues in the field of autonomous robots. Autonomous navigation in a dynamic environment is not only challenging but also uncovers many indoor environmental factors which affect the process of mapping and navigation. The presented work describes how a ROS-based control system is used with a Pioneer 3-DX robot for indoor mapping, localization, and autonomous navigation. Mapping of different challenging environments is presented in this work. Moreover, some factors associated with indoor environments that can affect mapping, localization, and automatic navigation, are also presented. For experiments, three environments (one artificial and two real) have been tested. Some implementation was done in C and Python.","PeriodicalId":125634,"journal":{"name":"2011 Saudi International Electronics, Communications and Photonics Conference (SIECPC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"99","resultStr":"{\"title\":\"ROS-based mapping, localization and autonomous navigation using a Pioneer 3-DX robot and their relevant issues\",\"authors\":\"S. Zaman, W. Slany, Gerald Steinbauer\",\"doi\":\"10.1109/SIECPC.2011.5876943\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The Robot Operating System (ROS) provides operating system-like services to operate robots. Mapping, localization, and autonomous navigation in an indoor environment are popular issues in the field of autonomous robots. Autonomous navigation in a dynamic environment is not only challenging but also uncovers many indoor environmental factors which affect the process of mapping and navigation. The presented work describes how a ROS-based control system is used with a Pioneer 3-DX robot for indoor mapping, localization, and autonomous navigation. Mapping of different challenging environments is presented in this work. Moreover, some factors associated with indoor environments that can affect mapping, localization, and automatic navigation, are also presented. For experiments, three environments (one artificial and two real) have been tested. Some implementation was done in C and Python.\",\"PeriodicalId\":125634,\"journal\":{\"name\":\"2011 Saudi International Electronics, Communications and Photonics Conference (SIECPC)\",\"volume\":\"26 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-04-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"99\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2011 Saudi International Electronics, Communications and Photonics Conference (SIECPC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SIECPC.2011.5876943\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 Saudi International Electronics, Communications and Photonics Conference (SIECPC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SIECPC.2011.5876943","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
ROS-based mapping, localization and autonomous navigation using a Pioneer 3-DX robot and their relevant issues
The Robot Operating System (ROS) provides operating system-like services to operate robots. Mapping, localization, and autonomous navigation in an indoor environment are popular issues in the field of autonomous robots. Autonomous navigation in a dynamic environment is not only challenging but also uncovers many indoor environmental factors which affect the process of mapping and navigation. The presented work describes how a ROS-based control system is used with a Pioneer 3-DX robot for indoor mapping, localization, and autonomous navigation. Mapping of different challenging environments is presented in this work. Moreover, some factors associated with indoor environments that can affect mapping, localization, and automatic navigation, are also presented. For experiments, three environments (one artificial and two real) have been tested. Some implementation was done in C and Python.
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