Desarrollo de un robot autónomo con sistema de mapeo y detección de obstáculos mediante sensor LiDAR

Abstract

Autonomous mobile robots have gained worldwide relevance in the industry assisting in dangerous tasks and execution of jobs providing competitive advantages. The concept of robots has become more popular thanks to the technological advances in robot autonomy, allowing to optimize tasks in fields such as mining, agriculture, transportation, logistics, among others. The present work aims to develop a mobile autonomous robot with mapping and obstacle detection system in controlled environments by means of a LIDAR sensor. This system was implemented using a Raspberry PI 4 that controls the robot, both machines communicate through a wireless network created by ROS. In addition, the SLAM algorithm was implemented for the creation of maps and various methods of navigation with odometry. The robot was able to generate maps through mapping algorithms using the LIDAR sensor, generating trajectories with the RRT exploration algorithm in order to navigate from an initial point A to an arrival point B autonomously and avoiding obstacles in its trajectory.