Mobile robot autonomous navigation using ORB-SLAM2
This paper presents the implementation of an autonomous navigation system for a differential mobile robot, which combines the Simultaneous Localization and Mapping (SLAM) technique, ORB-SLAM2 with an RGB-D camera, and the BUG0 algorithm for obstacle avoidance integrated in the ROS (Robot Operating S...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2023 |
| País: | México |
| Institución: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/10706 |
| Acceso en línea: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/10706 |
| Access Level: | acceso abierto |
| Palabra clave: | Mobile robot Autonomous navigation ORB-SLAM2 ROS Robot móvil Navegación autónoma |
| Sumario: | This paper presents the implementation of an autonomous navigation system for a differential mobile robot, which combines the Simultaneous Localization and Mapping (SLAM) technique, ORB-SLAM2 with an RGB-D camera, and the BUG0 algorithm for obstacle avoidance integrated in the ROS (Robot Operating System) framework. The proposed system was experimentally evaluated in a real environment and achieved efficient and safe autonomous navigation in the presence of obstacles. Experimental results showed that the system was capable of generating optimal trajectories around obstacles and maintained a safe distance to avoid collisions. Furthermore, satisfactory results were obtained in terms of accuracy in pose estimation and trajectory generation. |
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