Autonomous Exploration and Mapping using a Mobile Robot Running ROS

Rachael N. Darmanin, Marvin Bugeja

Abstract

This paper proposes a practical solution to the autonomous exploration and mapping problem using a single mobile robot. Moreover, the authors implement the proposed scheme within the Robot Operating System (ROS), and validate it experimentally using PowerBot, a real wheeled mobile robot equipped with a 2D laser scanner. In essence, the proposed scheme integrates an efficient particle-filter-based SLAM algorithm, two different exploration strategies, and a path-planning and navigation module. The modular nature of the proposed scheme is intentional and advantageous. It allows the authors to compare the two exploration strategies under investigation objectively and with ease. Finally, hypotheses testing is also used to strengthen the results of the comparative analysis.

References

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Paper Citation


in Harvard Style

Darmanin R. and Bugeja M. (2016). Autonomous Exploration and Mapping using a Mobile Robot Running ROS . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 208-215. DOI: 10.5220/0005962102080215


in Bibtex Style

@conference{icinco16,
author={Rachael N. Darmanin and Marvin Bugeja},
title={Autonomous Exploration and Mapping using a Mobile Robot Running ROS},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={208-215},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005962102080215},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Autonomous Exploration and Mapping using a Mobile Robot Running ROS
SN - 978-989-758-198-4
AU - Darmanin R.
AU - Bugeja M.
PY - 2016
SP - 208
EP - 215
DO - 10.5220/0005962102080215