Algorithms for the movement of a mobile robot with the construction of a real-time terrain map

Abstract

Algorithms for the movement of a mobile robot with the construction of a real-time terrain map

Egunov V.A. Koroleva I.Y., Tipaev D.V.

Incoming article date: 28.02.2022

This article describes the implementation of an orientation software package for a mobile robot with the construction of a terrain map and its subsequent analysis. As part of the work, a software module was developed for a mobile robot using a laser rangefinder (lidar), a Raspberry Pi 3B+ microcomputer with a ROS robotic operating system installed on it is used to obtain data from a laser rangefinder. The algorithm of movement of a mobile robotic complex in space with the construction of a terrain map in real time is described. Such complexes are currently widely used, they can significantly reduce the need for human participation in heavy and dangerous work.

Keywords: mobile robot, robotic complex, laser rangefinder, lidar, ultrasonic sensor, vision system