Gigih Priyandoko, M. S. Hendriyawan Achmad
A few criteria needed to be met in order to develop a mobile robot mapping system: wireless control of the mobile robot and obstacle detection. In this research, a Robot Operating System (ROS) is developed as the framework for the mobile robot control system. The laser sable toner and Kinect camera serve as tools for detecting obstacles in the mobile robot's environment. The Hector mapping package is used to create a 2D/3D map based on the object detected by the laser sable toner. The Hector package's parameters are investigated in order to determine the best map layout quality. Based on the experimental results, the first step is to develop a Wi-Fi network with the ROS framework for wireless sensor data collection and command execution. Second, the use of hector mapping allows for the creation of 2D/3D maps with minimal error. The development of a mobile robot control system allows for the execution of mapping missions and exploration of unknown environments without putting human lives at risk. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
Department of Electrical Engineering, Faculty of Electrical Engineering, University of Widyagama, Malang, 65125, Indonesia; Department of Electrical Engineering, Faculty of Science and Technology, Universitas Teknologi Yogyakarta, Yogyakarta, 55285, Indonesia
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