Navigation Control Design of a Mobile Robot by Integrating Obstacle Avoidance and LiDAR SLAM

Kai-Tai Song, Yu Heng Chiu, Li Ren Kang, Shao Huan Song, Cheng An Yang, Pei Chun Lu, Song Qing Ou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

This paper presents a mobile robot navigation control system based on integration of laser SLAM localization and real-time obstacle avoidance control to provide personnel guidance for daily-life services. The LiDAR SLAM localization system is implemented in a ROS software architecture, in which Cartographer SLAM is adopted and the adaptive Monte Carlo localization is employed onboard the robot. An integrated guidance system is proposed in this paper to combine obstacle avoidance and SLAM so that the robot can move to the desired location without colliding with any unexpected obstacles. A safety-weight parameter is used to integrate goal seeking controller with the obstacle avoidance controller. The experimental results show that the robot can localize itself and navigate to the target location while avoiding obstacles on the path.

Original languageEnglish
Title of host publicationProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1833-1838
Number of pages6
ISBN (Electronic)9781538666500
DOIs
StatePublished - 16 Jan 2019
Event2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 - Miyazaki, Japan
Duration: 7 Oct 201810 Oct 2018

Publication series

NameProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

Conference

Conference2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
CountryJapan
CityMiyazaki
Period7/10/1810/10/18

Keywords

  • Guidance control
  • Mobile robot
  • Obstacle avoidance
  • SLAM

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