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Advanced Computing and Intelligent Technologies pp 225–235Cite as

LiDAR Integration with ROS for SLAM Mediated Autonomous Path Exploration

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Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 914))

Abstract

Path exploration is a significant problem domain of point-to-point robot navigation. Even the availability of robust sensors has created evolving computational challenges for mobile robot navigation (MRN) specially in GPS denied indoor environments (IE). This paper presents the theoretic and experimental analysis of path exploration challenges and possibilities in an indoor environment by systematic integration of LiDAR with ROS platform for constructing assessable SLAM. The algorithmic solutions have been tested with customized differential drive structure robot platform (CUBOT). This also studies the mapping of the concerned trajectory and environment localization. Consumer grade 2D RP LiDAR is used here as the percept for the edging obstacle periphery, and the associated tangential data is used to construct the localization and mapping. Significant analysis is done on visual representation of LiDAR data in ROS platform for performance evaluation of the path exploration and planning algorithms. This evaluated result would clearly serve as reference to researchers for selecting appropriate SLAM algorithm with an associated memory representation of already explored path. It would also facilitate further combination with optimized global and local path planning techniques to achieve a desired goal by autonomous mobile robot in constrained indoor environment.

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Authors and Affiliations

  1. National Institute of Technology Agartala, Agartala, India

    Rapti Chaudhuri & Suman Deb

Authors
  1. Rapti Chaudhuri
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  2. Suman Deb
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Correspondence to Rapti Chaudhuri .

Editor information

Editors and Affiliations

  1. Bharath Institute of Higher Education and Research, Chennai, Tamil Nadu, India

    Rabindra Nath Shaw

  2. Regional Campus Manipur, Indira Gandhi National Tribal University, Imphal, Manipur, India

    Sanjoy Das

  3. Department of Computer Science, University of Milan, Milan, Italy

    Vincenzo Piuri

  4. Department of Information Engineering and Mathematics, University of Siena, Siena, Italy

    Monica Bianchini

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© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Chaudhuri, R., Deb, S. (2022). LiDAR Integration with ROS for SLAM Mediated Autonomous Path Exploration. In: Shaw, R.N., Das, S., Piuri, V., Bianchini, M. (eds) Advanced Computing and Intelligent Technologies. Lecture Notes in Electrical Engineering, vol 914. Springer, Singapore. https://doi.org/10.1007/978-981-19-2980-9_19

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  • DOI: https://doi.org/10.1007/978-981-19-2980-9_19

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-2979-3

  • Online ISBN: 978-981-19-2980-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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