Development of Autonomous Mobile Robot with 3DLidar Self-Localization Function Using Layout Map
In recent years, there has been growing interest in autonomous mobile robots equipped with Simultaneous Localization and Mapping (SLAM) technology as a solution to labour shortages in production and distribution settings. SLAM allows these robots to create maps of their environment using devices suc...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-03-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/13/6/1082 |
| _version_ | 1797241296909238272 |
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| author | Minoru Sasaki Yuki Tsuda Kojiro Matsushita |
| author_facet | Minoru Sasaki Yuki Tsuda Kojiro Matsushita |
| author_sort | Minoru Sasaki |
| collection | DOAJ |
| description | In recent years, there has been growing interest in autonomous mobile robots equipped with Simultaneous Localization and Mapping (SLAM) technology as a solution to labour shortages in production and distribution settings. SLAM allows these robots to create maps of their environment using devices such as Lidar, radar, and sonar sensors, enabling them to navigate and track routes without prior knowledge of the environment. However, the manual operation of these robots for map construction can be labour-intensive. To address this issue, this research aims to develop a 3D SLAM autonomous mobile robot system that eliminates the need for manual map construction by utilizing existing layout maps. The system includes a PC for self-position estimation, 3DLidar, a camera for verification, a touch panel display, and the mobile robot itself. The proposed SLAM method extracts stable wall point cloud information from 3DLidar, matches it with the wall surface information in the layout map, and uses a particle filter to estimate the robot’s position. The system also includes features such as route creation, tracking, and obstacle detection for autonomous movement. Experiments were conducted to compare the proposed system with conventional 3D SLAM methods. The results showed that the proposed system significantly reduced errors in self-positioning and enabled accurate autonomous movement on specified routes, even in the presence of slight differences in layout maps and obstacles. Ultimately, this research demonstrates the effectiveness of a system that can transport goods without the need for manual environment mapping, addressing labour shortages in such environments. |
| first_indexed | 2024-04-24T18:21:05Z |
| format | Article |
| id | doaj.art-3b66aa1d1faa483c92225aa631195478 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-04-24T18:21:05Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-3b66aa1d1faa483c92225aa6311954782024-03-27T13:34:55ZengMDPI AGElectronics2079-92922024-03-01136108210.3390/electronics13061082Development of Autonomous Mobile Robot with 3DLidar Self-Localization Function Using Layout MapMinoru Sasaki0Yuki Tsuda1Kojiro Matsushita2Intelligent Production Technology Research & Development Center for Aerospace, Tokai National Higher Education and Research System, Gifu University, 1-1 Yanagido, Gifu 501-1193, JapanDepartment of Mechanical Engineering, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, JapanDepartment of Mechanical Engineering, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, JapanIn recent years, there has been growing interest in autonomous mobile robots equipped with Simultaneous Localization and Mapping (SLAM) technology as a solution to labour shortages in production and distribution settings. SLAM allows these robots to create maps of their environment using devices such as Lidar, radar, and sonar sensors, enabling them to navigate and track routes without prior knowledge of the environment. However, the manual operation of these robots for map construction can be labour-intensive. To address this issue, this research aims to develop a 3D SLAM autonomous mobile robot system that eliminates the need for manual map construction by utilizing existing layout maps. The system includes a PC for self-position estimation, 3DLidar, a camera for verification, a touch panel display, and the mobile robot itself. The proposed SLAM method extracts stable wall point cloud information from 3DLidar, matches it with the wall surface information in the layout map, and uses a particle filter to estimate the robot’s position. The system also includes features such as route creation, tracking, and obstacle detection for autonomous movement. Experiments were conducted to compare the proposed system with conventional 3D SLAM methods. The results showed that the proposed system significantly reduced errors in self-positioning and enabled accurate autonomous movement on specified routes, even in the presence of slight differences in layout maps and obstacles. Ultimately, this research demonstrates the effectiveness of a system that can transport goods without the need for manual environment mapping, addressing labour shortages in such environments.https://www.mdpi.com/2079-9292/13/6/1082autonomous mobile robotSLAM3Dlidarlayout mapbreadth-first searchobstacle avoidance |
| spellingShingle | Minoru Sasaki Yuki Tsuda Kojiro Matsushita Development of Autonomous Mobile Robot with 3DLidar Self-Localization Function Using Layout Map Electronics autonomous mobile robot SLAM 3Dlidar layout map breadth-first search obstacle avoidance |
| title | Development of Autonomous Mobile Robot with 3DLidar Self-Localization Function Using Layout Map |
| title_full | Development of Autonomous Mobile Robot with 3DLidar Self-Localization Function Using Layout Map |
| title_fullStr | Development of Autonomous Mobile Robot with 3DLidar Self-Localization Function Using Layout Map |
| title_full_unstemmed | Development of Autonomous Mobile Robot with 3DLidar Self-Localization Function Using Layout Map |
| title_short | Development of Autonomous Mobile Robot with 3DLidar Self-Localization Function Using Layout Map |
| title_sort | development of autonomous mobile robot with 3dlidar self localization function using layout map |
| topic | autonomous mobile robot SLAM 3Dlidar layout map breadth-first search obstacle avoidance |
| url | https://www.mdpi.com/2079-9292/13/6/1082 |
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