| Titre : | Investigating and Implementing ROS-based Autonomous Navigation for Mobile Robots using SLAM Algorithms | | Type de document : | document multimédia | | Auteurs : | Nour OTMANI, Auteur ; Maroua Makhloufi, Auteur ; Ibrahim Khalil Oubbati, Directeur de thèse | | Editeur : | Laghouat : Université Amar Telidji - Département d'électronique | | Année de publication : | 2024 | | Importance : | 60p. | | Accompagnement : | 1 CD ROM Optique Némérique | | Note générale : | Embedded Systems | | Langues : | Anglais | | Mots-clés : | Keywords: Simultaneous Localization and Mapping (SLAM), Operating System ROS, Mobile Robot, Hector SLAM, GMapping, Navigation . | | Résumé : | Navigation is one of the most challenging tasks for a mobile robot. Mapping and navigation are becoming crucial in areas like exploration and automated vehicles, especially in places difficult for humans to access. To aid navigation, a Light Detection and Ranging (LiDAR) sensor is essential for creating maps of unknown environments. Our project focuses on mapping an unknown indoor space using Hector SLAM and GMapping techniques within the Robot Operating System (ROS). We used the Rviz tool in ROS to display the scanning results, and the maps created with LiDAR and ROS accurately match the real environment, making them ideal for indoor navigation. Additionally, we developed a navigation application where the robot first maps its current location. Then, we direct the robot to a new spot, and it moves there while updating and completing the map. This process repeats until the entire area is mapped. Our final results show that the robot can build maps and determine its location in real-time.
| | note de thèses : | Memoire de Master en Electronique |
Investigating and Implementing ROS-based Autonomous Navigation for Mobile Robots using SLAM Algorithms [document multimédia] / Nour OTMANI, Auteur ; Maroua Makhloufi, Auteur ; Ibrahim Khalil Oubbati, Directeur de thèse . - Laghouat : Université Amar Telidji - Département d'électronique, 2024 . - 60p. + 1 CD ROM Optique Némérique. Embedded Systems Langues : Anglais | Mots-clés : | Keywords: Simultaneous Localization and Mapping (SLAM), Operating System ROS, Mobile Robot, Hector SLAM, GMapping, Navigation . | | Résumé : | Navigation is one of the most challenging tasks for a mobile robot. Mapping and navigation are becoming crucial in areas like exploration and automated vehicles, especially in places difficult for humans to access. To aid navigation, a Light Detection and Ranging (LiDAR) sensor is essential for creating maps of unknown environments. Our project focuses on mapping an unknown indoor space using Hector SLAM and GMapping techniques within the Robot Operating System (ROS). We used the Rviz tool in ROS to display the scanning results, and the maps created with LiDAR and ROS accurately match the real environment, making them ideal for indoor navigation. Additionally, we developed a navigation application where the robot first maps its current location. Then, we direct the robot to a new spot, and it moves there while updating and completing the map. This process repeats until the entire area is mapped. Our final results show that the robot can build maps and determine its location in real-time.
| | note de thèses : | Memoire de Master en Electronique |
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