Evaluation of Robot Motion Trajectory Based on Selected Mapping Algorithms

Abstract

This paper presents the concept of a remotely controlled mobile robot that generates a two-dimensional map of its surroundings. The hardware platform developed relies on the LINUX operating system with the Robot Operating System (ROS) to function properly. The authors focused on discussing the robot's hardware and presenting the software used. In line with the assumptions made, the robot is capable of generating a two-dimensional digital map of its surroundings, as well as of recording images of those surroundings. The robot relies on lidar odometry for identifying its position, meaning that the developed algorithm calculates the vehicle's location based on data from a laser scanner. The main sources of environment-related information acquired by the robot include the following: RPLidar A3M1 laser scanner by Slamtec (generating a digital map) and a 5mpx HD OV5647 camera (capturing images of the surroundings). These devices are coupled with the Raspberry Pi 3B on-board computer via a CSI interface.