MAPPING AND POSITIONING SYSTEM ON OMNIDIRECTIONAL ROBOT USING SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM) METHOD BASED ON LIDAR

Authors

  • Achmad Akmal Fikri Department of Electrical Engineering, Faculty of Engineering, Universitas Negeri Surabaya, East Java, Indonesia
  • Lilik Anifah Department of Electrical Engineering, Faculty of Engineering, Universitas Negeri Surabaya, East Java, Indonesia

DOI:

https://doi.org/10.11113/jurnalteknologi.v83.16918

Keywords:

Autonomous Robot, Mapping and Positioning System, SLAM, Google cartographer, AMCL

Abstract

The main problem from autonomous robot for navigation is how the robot able to recognize the surrounding environment and know this position. These problems make this research weakness and become a challenge for further research. Therefore, this research focuses on designing a mapping and positioning system using Simultaneous Localization and Mapping (SLAM) method which is implemented on an omnidirectional robot using a LiDAR sensor. The proposes of this research  are mapping system using the google cartographer algorithm combined with the eulerdometry method, eulerdometry is a combination of odometry and euler orientation from IMU sensor, while the positioning system uses the Adaptive Monte Carlo Localization (AMCL) method combined with the eulerdometry method. Testing is carried out by testing the system five times from each system, besides that testing is also carried out at each stage, testing on each sensor used such as the IMU and LiDAR sensors, and testing on system integration, including the eulerdometry method, mapping system and positioning system. The results on the mapping system showed optimal results, even though there was still noise in the results of the maps created, while the positioning system test got an average RMSE value from each map created of 278.55 mm on the x-axis, 207.37 mm on the y-axis, and 4.28o on the orientation robot.

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Published

2021-09-21

How to Cite

Fikri, A. A. ., & Anifah, L. . (2021). MAPPING AND POSITIONING SYSTEM ON OMNIDIRECTIONAL ROBOT USING SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM) METHOD BASED ON LIDAR. Jurnal Teknologi, 83(6), 41-52. https://doi.org/10.11113/jurnalteknologi.v83.16918

Issue

Section

Science and Engineering