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All Journal Jurnal INFOTEL PROtek International Journal of Engineering, Technology and Natural Sciences (IJETS) JASEE Journal of Application and Science on Electrical Engineering
Nuryadi, Satyo
University Of Technology Yogyakarta
Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Electrical & Electronics Engineering Energy Industrial & Manufacturing Engineering

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Journal : Jurnal INFOTEL

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ROS-based 2-D Mapping Using Non-holonomic Differential Mobile Robot Achmad, M.S. Hendriyawan; Nuryadi, Satyo; Fadlun, Wira; Daud, Mohd Razali
JURNAL INFOTEL Vol 10 No 2 (2018): May 2018
Publisher : LPPM INSTITUT TEKNOLOGI TELKOM PURWOKERTO

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (889.518 KB) | DOI: 10.20895/infotel.v10i2.369

Abstract

This research proposes a 2-D mapping method by a mobile robot using LIDAR sensor. The mobile robot used is a non-holonomic type with a differential driver designed to operate in an indoor area. The robot applies an occupancy grid map method that uses a probability rule to handle the uncertainties of the sensor. The quality of 2-D occupied map relies on the accuracy of distance measurements by the LIDAR sensor and the accuracy of position estimation. Position estimation is obtained by using the 2-D LIDAR odometry which is based on the laser scan matching technique. This research uses simulation model which has characteristics like real nature. All the robotic software operations are managed by the Robot Operating System (ROS) as one of the most popular software frameworks currently used by robot researchers. The experimental results show that the robot can arrange a 2-D map well which is indicated by the similarity between the reference ground truth and the resulting 2-D map.
Co-Authors Bayu Ari Pratama Fadlun, Wira Mohd Razali Daud MS Hendriyawan Achmad Pramudwiatmoko, Arif Rodhiyah Mardhiyyah Zulkhairi