Autonomous navigation robot using slam and path planning based on a Single RP-LIDAR
This paper proposes an autonomous robotics system based on a single LIDAR sensor for delivering goods. There are needs to deliver goods such as medical supplies to the hospital and document in office. Although this task is simple, the delivery task is time consuming, tedious, and boring. In this reg...
| Main Authors: | , , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Semarak Ilmu Publishing
2025
|
| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/43660/1/Autonomous%20navigation%20robot%20using%20slam%20and%20path%20planning%20based%20on%20a%20Single%20RP-LIDAR.pdf |
| _version_ | 1824451765828845568 |
|---|---|
| author | Abu Ubaidah, Shamsudin Puteri Alisha Balqis, Mohd Sharif Soomro, Zubair Adil Ruzairi, Abdul Rahim Ahmad Athif, Mohd Faudzi Wan Nurshazwani, Zakaria Mohamad Heerwan, Peeie Salaan, Carl John O. |
| author_facet | Abu Ubaidah, Shamsudin Puteri Alisha Balqis, Mohd Sharif Soomro, Zubair Adil Ruzairi, Abdul Rahim Ahmad Athif, Mohd Faudzi Wan Nurshazwani, Zakaria Mohamad Heerwan, Peeie Salaan, Carl John O. |
| author_sort | Abu Ubaidah, Shamsudin |
| collection | UMP |
| description | This paper proposes an autonomous robotics system based on a single LIDAR sensor for delivering goods. There are needs to deliver goods such as medical supplies to the hospital and document in office. Although this task is simple, the delivery task is time consuming, tedious, and boring. In this regard, autonomous robotic systems could be a suitable solution. Here-in, we proposed the use of a single RP-LIDAR sensor in a robotic system that is sufficient for delivering goods in indoor environment. The robotic system uses autonomous navigation module which consists of simultaneous localization and mapping (SLAM) of the environment, and path planning for the robot to move safely from its current location to a desired position. In the context of SLAM, Hector SLAM method was opted due to its capability to harness sufficient data from a single LIDAR sensor. When it comes to path planning, the system employs a two-pronged approach. First, a global planner, utilizing the A* algorithm, facilitates long-distance trajectory planning while accounting for static obstacles. Second, a local planner, employing the Trajectory Rollout and Dynamic Window Approach (DWA), ensures real-time obstacle avoidance in the presence of moving obstacles. The approach was evaluated in a laboratory environment (11 meter by 8 meter) and successfully built a path that avoided obstacles in both static and dynamic conditions. This approach for autonomous robotics using a single RP-LIDAR sensor has the potential to revolutionize the delivery industry and other sectors that require autonomous navigation. |
| first_indexed | 2025-02-19T02:39:50Z |
| format | Article |
| id | UMPir43660 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2025-02-19T02:39:50Z |
| publishDate | 2025 |
| publisher | Semarak Ilmu Publishing |
| record_format | dspace |
| spelling | UMPir436602025-01-21T08:43:28Z http://umpir.ump.edu.my/id/eprint/43660/ Autonomous navigation robot using slam and path planning based on a Single RP-LIDAR Abu Ubaidah, Shamsudin Puteri Alisha Balqis, Mohd Sharif Soomro, Zubair Adil Ruzairi, Abdul Rahim Ahmad Athif, Mohd Faudzi Wan Nurshazwani, Zakaria Mohamad Heerwan, Peeie Salaan, Carl John O. T Technology (General) TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TL Motor vehicles. Aeronautics. Astronautics This paper proposes an autonomous robotics system based on a single LIDAR sensor for delivering goods. There are needs to deliver goods such as medical supplies to the hospital and document in office. Although this task is simple, the delivery task is time consuming, tedious, and boring. In this regard, autonomous robotic systems could be a suitable solution. Here-in, we proposed the use of a single RP-LIDAR sensor in a robotic system that is sufficient for delivering goods in indoor environment. The robotic system uses autonomous navigation module which consists of simultaneous localization and mapping (SLAM) of the environment, and path planning for the robot to move safely from its current location to a desired position. In the context of SLAM, Hector SLAM method was opted due to its capability to harness sufficient data from a single LIDAR sensor. When it comes to path planning, the system employs a two-pronged approach. First, a global planner, utilizing the A* algorithm, facilitates long-distance trajectory planning while accounting for static obstacles. Second, a local planner, employing the Trajectory Rollout and Dynamic Window Approach (DWA), ensures real-time obstacle avoidance in the presence of moving obstacles. The approach was evaluated in a laboratory environment (11 meter by 8 meter) and successfully built a path that avoided obstacles in both static and dynamic conditions. This approach for autonomous robotics using a single RP-LIDAR sensor has the potential to revolutionize the delivery industry and other sectors that require autonomous navigation. Semarak Ilmu Publishing 2025 Article PeerReviewed pdf en cc_by_nc_4 http://umpir.ump.edu.my/id/eprint/43660/1/Autonomous%20navigation%20robot%20using%20slam%20and%20path%20planning%20based%20on%20a%20Single%20RP-LIDAR.pdf Abu Ubaidah, Shamsudin and Puteri Alisha Balqis, Mohd Sharif and Soomro, Zubair Adil and Ruzairi, Abdul Rahim and Ahmad Athif, Mohd Faudzi and Wan Nurshazwani, Zakaria and Mohamad Heerwan, Peeie and Salaan, Carl John O. (2025) Autonomous navigation robot using slam and path planning based on a Single RP-LIDAR. Journal of Advanced Research in Applied Sciences and Engineering Technology, 53 (2). pp. 161-169. ISSN 2462-1943. (Published) https://doi.org/10.37934/araset.53.2.161169 https://doi.org/10.37934/araset.53.2.161169 |
| spellingShingle | T Technology (General) TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TL Motor vehicles. Aeronautics. Astronautics Abu Ubaidah, Shamsudin Puteri Alisha Balqis, Mohd Sharif Soomro, Zubair Adil Ruzairi, Abdul Rahim Ahmad Athif, Mohd Faudzi Wan Nurshazwani, Zakaria Mohamad Heerwan, Peeie Salaan, Carl John O. Autonomous navigation robot using slam and path planning based on a Single RP-LIDAR |
| title | Autonomous navigation robot using slam and path planning based on a Single RP-LIDAR |
| title_full | Autonomous navigation robot using slam and path planning based on a Single RP-LIDAR |
| title_fullStr | Autonomous navigation robot using slam and path planning based on a Single RP-LIDAR |
| title_full_unstemmed | Autonomous navigation robot using slam and path planning based on a Single RP-LIDAR |
| title_short | Autonomous navigation robot using slam and path planning based on a Single RP-LIDAR |
| title_sort | autonomous navigation robot using slam and path planning based on a single rp lidar |
| topic | T Technology (General) TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TL Motor vehicles. Aeronautics. Astronautics |
| url | http://umpir.ump.edu.my/id/eprint/43660/1/Autonomous%20navigation%20robot%20using%20slam%20and%20path%20planning%20based%20on%20a%20Single%20RP-LIDAR.pdf |
| work_keys_str_mv | AT abuubaidahshamsudin autonomousnavigationrobotusingslamandpathplanningbasedonasinglerplidar AT puterialishabalqismohdsharif autonomousnavigationrobotusingslamandpathplanningbasedonasinglerplidar AT soomrozubairadil autonomousnavigationrobotusingslamandpathplanningbasedonasinglerplidar AT ruzairiabdulrahim autonomousnavigationrobotusingslamandpathplanningbasedonasinglerplidar AT ahmadathifmohdfaudzi autonomousnavigationrobotusingslamandpathplanningbasedonasinglerplidar AT wannurshazwanizakaria autonomousnavigationrobotusingslamandpathplanningbasedonasinglerplidar AT mohamadheerwanpeeie autonomousnavigationrobotusingslamandpathplanningbasedonasinglerplidar AT salaancarljohno autonomousnavigationrobotusingslamandpathplanningbasedonasinglerplidar |