Simulation of autonomous inspection robot application based on ROS

Entong Zang; Yongfei Xiao; Bowen Song

doi:10.1117/12.3003800

11 October 2023 Simulation of autonomous inspection robot application based on ROS

Entong Zang, Yongfei Xiao, Bowen Song

Proceedings Volume 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023); 128006C (2023) https://doi.org/10.1117/12.3003800
Event: 6th International Conference on Computer Information Science and Application Technology (CISAT 2023), 2023, Hangzhou, China

Abstract

Simultaneous Localization and Map construction (SLAM) is a hot research topic in mobile robotics and is a crucial technology for developing inspection robots. This paper focuses on mapping the environment by analyzing the Gmapping and Karto Slam algorithms' mapping effects and constructing a simulation environment map using the Karto Slam algorithm. To address the obstacle avoidance problem that cannot be handled by only using the Dijkstra algorithm for global path planning, an improved DWA algorithm is introduced for local path planning to optimize the real-time obstacle avoidance function of the robot. Based on the construction of a robot simulation platform, this paper studies the previous simulation of an autonomous inspection robot before actual experiments. Through simulation experiments of mapping and path planning, this study provides support for the feasibility of robot field experiments, reducing the cycle and difficulty of on-site debugging.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Entong Zang, Yongfei Xiao, and Bowen Song "Simulation of autonomous inspection robot application based on ROS", Proc. SPIE 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023), 128006C (11 October 2023); https://doi.org/10.1117/12.3003800

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