Desarrollo de un Robot autónomo para mapeo de entornos usando un sensor Lidar

Abstract

The project consisted of the implementation of various types of mapping and navigation algorithms in an autonomous robot, to determine which of them simultaneously satisfies the mapping and navigation requirements. The objective was the development of an autonomous robot intended for mapping environments using a laser sensor called LIDAR. Testing and evaluation of different mapping and navigation algorithms were carried out in a controlled environment. Four mapping algorithms were used: Hector mapping, Gmapping mapping, Karto mapping, and Cartographer mapping, as well as two navigation algorithms: rrt_exploration and another intended for obstacle avoidance and detection. The results indicated that the navigation algorithm that best-avoided obstacles was obstacle avoidance and detection, while the mapping algorithm that provided greater detail and presented less image distortion when mapping the environment was Karto mapping. To validate this, fifty tests were carried out with each of the algorithms, confirming their feasibility.