Please use this identifier to cite or link to this item:
https://www.um.edu.mt/library/oar/handle/123456789/103068
Title: | Autonomous exploration and mapping using a mobile robot running ROS |
Authors: | Darmanin, Rachael N. Bugeja, Marvin K. |
Keywords: | Robotics Mobile robots Mappings (Mathematics) Computational intelligence SLAM (Computer program language) |
Issue Date: | 2016 |
Publisher: | SCITEPRESS – Science and Technology Publications |
Citation: | Darmanin, R. N., & Bugeja, M. K. (2016, July). Autonomous Exploration and Mapping using a Mobile Robot Running ROS. 13th International Conference on Informatics in Control, Automation and Robotics, Portugal, 208-215. |
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. |
URI: | https://www.um.edu.mt/library/oar/handle/123456789/103068 |
ISBN: | 9789897581984 |
Appears in Collections: | Scholarly Works - FacEngSCE |
Files in This Item:
File | Description | Size | Format | |
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Autonomous_exploration_and_mapping_using_a_mobile_robot_running_ROS(2016).pdf | 283.75 kB | Adobe PDF | View/Open |
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