Vol 10 No 2 (2018): May 2018

ROS-based 2-D Mapping Using Non-holonomic Differential Mobile Robot

M.S. Hendriyawan Achmad (Universitas Teknologi Yogyakarta)
Satyo Nuryadi (Universitas Teknologi Yogyakarta)
Wira Fadlun (Universitas Teknologi Yogyakarta)
Mohd Razali Daud (Universiti Malaysia Pahang)

Article Info

Publish Date
10 Jul 2018


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.

Copyrights © 2018

Journal Info





Computer Science & IT Electrical & Electronics Engineering


Jurnal INFOTEL is a scientific journal published by Lembaga Penelitian dan Pengabdian Masyarakat (LPPM) of Institut Teknologi Telkom Purwokerto, Indonesia. Jurnal INFOTEL covers the field of informatics, telecommunication, and electronics. First published in 2009 for a printed version and published ...