International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395-0056
Volume: 11 Issue: 04 | Apr 2024
p-ISSN: 2395-0072
www.irjet.net
LiDBot (Autonomous Bot for 2D mapping) Yash Kasar1, Yash Mhatre2, Meet Dhotre3, Abhishek Desai4 , Prof. Sandip Zade5 1234Students, Dept. Of Electronics and Telecommunication, Atharva College of Engineering, Mumbai 5Professor, Dept. Of Electronics and Telecommunication, Atharva College of Engineering, Mumbai
---------------------------------------------------------------------***--------------------------------------------------------------------are getting higher and higher. Therefore, accelerating the Abstract
development of autonomous mobile robot technology is of great significance for promoting the development of the intelligent equipment manufacturing industry.
This paper introduces an autonomous robotic system that employs LiDAR (Light Detection and Ranging) technology, driven by a Raspberry Pi 4 single-board computer, and seamlessly integrated with the Robot Operating System 2 (ROS2) for the purpose of 2D mapping and Simultaneous Localization and Mapping (SLAM) in indoor environments. The Raspberry Pi 4 serves as the onboard computer, responsible for processing LiDAR data, sensor fusion, control algorithms, and communication with external devices. ROS2 acts as the middleware, ensuring a seamless use of sensors, control algorithms, and visualization tools. The implementation of SLAM algorithms is an important aspect of this project, allowing the robot to construct an intricate 2D map of its environment while concurrently determining its own position within that map. This information proves indispensable for secure and efficient navigation within dynamic indoor surroundings.
At present, industrial robots at home and abroad are mainly oriented to tasks such as handling and distribution. Such robots are mainly produced by traditional large-scale equipment manufacturers and are controlled by special software and programming languages. Through a series of experiments and performance evaluations, we will demonstrate the effectiveness of our autonomous robot system in creating precise 2D maps of complex indoor environments, showcasing its ability to adapt and navigate dynamically changing surroundings. In applications such as industrial automation, indoor navigation, and robotics, these bots excel at obstacle detection, collision avoidance, and mapping of the environment.
Furthermore, the autonomous robot adeptly maneuvers through these environments while continually updating its map and self-localization estimations. The paper showcases performance metrics such as map precision, navigation speed and computational efficiency within the provided resources.
In summary, the integration of 2D LiDAR into autonomous bots opens opportunities for safer and more efficient navigation and automation in a wide range of industries. As technology continues to evolve, bots will likely become even more versatile and capable, contributing to advancements in mobility, safety, and productivity across various domains.
This research contributes substantively to the domain of robotics by furnishing a practical implementation of an autonomous robot system utilizing LiDAR, Raspberry Pi 4, and ROS2, underscoring its efficiency in 2D mapping and SLAM.
2. HARDWARE COMPONENTS a.
Raspberry Pi 4
Key Words: LiDBot, Simultaneous Localization and Mapping (SLAM), Light Detection and Ranging(LiDAR), Robot Operating System 2(ROS2), Raspberry Pi4, 2D Mapping.
1. INTRODUCTION With the advancement of intelligent manufacturing and the expansion of the industrial logistics industry, logistics robot technology has been continuously developed. As a member of the industrial logistics robots, autonomous mobile robots are developing in the direction of intelligent control, multi-machine collaboration, and design mode, and people's requirements for its functions
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Figure 1: Raspberry Pi 4
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