Implementation of Path Planning with Obstacle Avoidance using SLAM in Services Robot

DOI

10.2991/978-94-6463-620-8_16How to use a DOI?

Keywords

Lidar; Simultaneous Localization and Mapping (SLAM); Algorithm; navigation; obstacles; real-time

Abstract

Obstacle avoidance is an important aspect in service robot navigation. This research proposes an approach that integrates Lidar sensors with Simultaneous Localization and Mapping (SLAM) methods to improve the robot’s ability to identify, understand, and avoid obstacles in dynamic environments. This data is then processed using SLAM algorithms to create a real-time map of the environment while estimating the robot’s position within it. An obstacle avoidance algorithm is designed to interact with SLAM data, so that the robot can adaptively change its movement path to avoid newly appearing or moving obstacles In robotic path planning, Dijkstra’s algorithm can be applied to generate the shortest, most efficient route from the robot’s current location to a target location. The algorithm operates on a predefined map or a dynamically updated map (as in SLAM), considering obstacles and the cost associated with traversing different parts of the environment. Dijkstra algorithm is chosen to determine the path to be traveled by the robot. The Djikstra algorithm takes the robot through the obstacle barrier well from the starting position to the destination point with excellent. Combining SLAM with Lidar obstacle avoidance improves the robot’s robustness in complex and rapidly changing environmental situations. Simulation experiments and field testing show that this approach is effective in improving the robot’s performance in dealing with obstacles and optimizing its autonomous navigation. By utilizing Lidar and SLAM technologies, this research contributes to the development of reliable robot navigation systems in various application contexts.

Copyright

© 2024 The Author(s)

Open Access

Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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TY  - CONF
AU  - Ryan Satria Wijaya
AU  - Dikki Wahyudi Tarigan
AU  - Senanjung Prayoga
AU  - Rifqi Amalya Fatekha
PY  - 2024
DA  - 2024/12/25
TI  - Implementation of Path Planning with Obstacle Avoidance using SLAM in Services Robot
BT  - Proceedings of the  7th International Conference on Applied Engineering (ICAE 2024)
PB  - Atlantis Press
SP  - 206
EP  - 219
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-620-8_16
DO  - 10.2991/978-94-6463-620-8_16
ID  - Wijaya2024
ER  -