Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout

A road mapping and feature extraction for mobile robot navigation in road roundabout and road following environments is presented in this chapter. In this work, the online mapping of mobile robot employing the utilization of sensor fusion technique is used to extract the road characteristics that will be used with path planning algorithm to enable the robot to move from a certain start position to predetermined goal, such as road curbs, road borders, and roundabout. The sensor fusion is performed using many sensors, namely, laser range finder, camera, and odometry, which are combined on a new wheeled mobile robot prototype to determine the best optimum path of the robot and localize it within its environments. The local maps are developed using an image’s preprocessing and processing algorithms and an artificial threshold of LRF signal processing to recognize the road environment parameters such as road curbs, width, and roundabout. The path planning in the road environments is accomplished using a novel approach so called Laser Simulator to find the trajectory in the local maps developed by sensor fusion. Results show the capability of the wheeled mobile robot to effectively recognize the road environments, build a local mapping, and find the path in both road following and roundabout

IMPROVING MOVEMENT OF WHEELED GROUND ROBOTS ON SLOPES USING LIDAR TECHNOLOGY: MAPPING, PLANNING, AND OPTIMIZATION

The development of wheeled ground robots has enabled them to be used for a variety of tasks. These robots must be able to move with accuracy and precision, especially when faced with obstacles or inclines. To improve the movement of these robots on a slope, lidar data can be used to detect the location and shape of obstacles. In recent years, Lidar technology has become an essential tool for various robotic applications. It has proven to be a game-changer in the field of autonomous navigation, especially in situations where robots have to operate in unknown environments. Lidar technology provides a high-resolution 3D map of the environment around the robot, enabling it to navigate autonomously while avoiding obstacles. In this paper, we discuss the use of Lidar technology in improving the movement of a wheeled ground robot on a slope. We describe the steps involved in obtaining Lidar data, processing the data to create a 3D map of the environment, and using the map to plan more efficient movement of the robot. We present an applied example of how Lidar data improves the movement of a ground robot with wheels on a slope, calculating the inclination of the ground, calculating the force required for the movement of the robot, creating three-dimensional models of the terrain to be navigated, creating plans for more efficient movement, and reducing damage and wear of the robot