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Implementation of simultaneous localization and mapping for TurtleBot under the ROS design framework

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Abstract

This work presents a comprehensive implementation of Simultaneous Localization and Mapping (SLAM) techniques on the TurtleBot robot within the Robot Operating System (ROS) framework. The study aims to advance the capabilities of the TurtleBot, a popular and cost-effective robot, by integrating hardware and software components, including laser and odometry sensors. The SLAM algorithm, specifically Gmapping, is employed for mapping while utilizing ROS visualization tools like Rviz. The robot’s simulation in Gazebo enhances testing in controlled environments. Leveraging teleoperation for data collection, the research delves into the challenges and considerations specific to SLAM on the TurtleBot platform, addressing a notable research gap. The study extends the exploration by investigating potential future enhancements and benefits, showcasing the adaptability and versatility of SLAM-integrated robotic systems. Simulation results detail the successful execution of SLAM through teleoperation, providing insights into mapping accuracy, computational performance, and the overall quality of the generated maps. The work concludes with a discussion on the distance travelled, future prospects, and the profound impact of SLAM on robotic navigation.

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Code availability

For image processing, the code was written in the Python language and implemented in the ROS. This code is used to produce the results in this article and can be obtained upon request from the corresponding authors.

Data availability

All data and materials used to produce the results in this article can be obtained upon request from the corresponding authors.

Abbreviations

SLAM:

Simultaneous localization and mapping

ROS:

Robot operating system

Rviz:

ROS visualization

EKF:

Extended Kalman Filter

DFT:

Dynamic field theory

LiDAR:

Light detection and ranging

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Funding

This research is not funded by any sponsoring agency.

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Authors and Affiliations

  1. Mechatronics Lab, School of Mechanical Engineering, KIIT Deemed to be University, Patia, Bhubaneswar, 751024, Odisha, India

    Anish Pandey & Gaurav Kumar Singh

  2. Department of Mechanical Engineering, University College of Engineering Kakinada, Jawaharlal Nehru Technological University Kakinada, Kakinada, 533003, Andhra Pradesh, India

    Kalapala Prasad

  3. Department of Computer Science Engineering, Nagpur Institute of Technology, Nagpur, 440013, Maharashtra, India

    Shrikant Zade

  4. Department of Mechanical Engineering, Faculty of Engineering and Technology, SGT University, Gurugram, 122505, Haryana, India

    Atul Babbar

  5. Department of Mechanical Engineering, Maharishi Markandeshwar Engineering College, Maharishi Markandeshwar (Deemed to be University), Mullana, Ambala, 133207, India

    Neeraj Sharma

  6. Production Engineering Department, National Institute of Technology Agartala, Agartala, 799046, Tripura, India

    Neeraj Sharma

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  1. Anish Pandey
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  2. Kalapala Prasad
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Correspondence to Neeraj Sharma.

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Pandey, A., Prasad, K., Zade, S. et al. Implementation of simultaneous localization and mapping for TurtleBot under the ROS design framework. Int J Interact Des Manuf (2024). https://doi.org/10.1007/s12008-024-01781-7

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