Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours

Ozan Vahit Altinpinar, Emre Can Contarli, Ahmet Kagizman, Umut Uguzlar, Enes Cansu, Volkan Sezer

Araştırma sonucu: ???type-name???Konferans katkısıbilirkişi

4 Atıf (Scopus)

Özet

Autonomous mobility is increasing its popularity day by day. Mapping, localization, planning, and control are the main research topics of autonomous systems. The performance of localization directly depends on the map quality. This paper aims to show how to improve mapping performance, by increasing the measurements and number of tours. In this context, using the GMapping package of the ROS platform, the mapping performance of two lidars located in different regions and heights of the wheelchair, working separately and together, is examined. In addition, the mapping performance according to the number of tours in the mapped region is also tested. As a result, it is confirmed that the results obtained using two lidars are more successful than a single lidar. Additionally, loop closure's effect on increasing the map quality is shown in the paper.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığıProceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022
YayınlayanInstitute of Electrical and Electronics Engineers Inc.
ISBN (Elektronik)9781665488945
DOI'lar
Yayın durumuYayınlandı - 2022
Etkinlik2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022 - Antalya, Turkey
Süre: 7 Eyl 20229 Eyl 2022

Yayın serisi

AdıProceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022

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???event.eventtypes.event.conference???2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022
Ülke/BölgeTurkey
ŞehirAntalya
Periyot7/09/229/09/22

Bibliyografik not

Publisher Copyright:
© 2022 IEEE.

Finansman

ACKNOWLEDGMENT This work was supported by the Turkish Scientific and Technological Research Council (TUBITAK) under project no. 121E537.

FinansörlerFinansör numarası
Turkish Scientific and Technological Research Council
Türkiye Bilimsel ve Teknolojik Araştırma Kurumu121E537

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