Navigation of robotics platform in unknown spaces using LIDAR, Raspberry PI and Hector SLAM

Vaníček, Petr; Beran, Ladislav; Rejfek, Luboš

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dc.contributor.author	Vaníček, Petr	cze
dc.contributor.author	Beran, Ladislav	cze
dc.contributor.author	Rejfek, Luboš	cze
dc.date.accessioned	2019-05-22T04:22:39Z
dc.date.available	2019-05-22T04:22:39Z
dc.date.issued	2018	eng
dc.identifier.issn	1112-9867	eng
dc.identifier.uri	https://hdl.handle.net/10195/72304
dc.description.abstract	This research is a base research of an alternative type navigation for our project ARES – Autonomous Research Exploration System. This system is focused on exploration of dangerous indoor spaces like caves, abandoned mines, ruins etc. In many cases, there is poor or no signal from satellite navigation systems and it is necessary to develop accurate navigation for our platform. Our platform is based on several systems like navigation using an inertial navigation unit, visual odometry and 3D space mapping. The result of our system will be a 3D map of space. The developed 3D space mapping needs accurate position for creation of a space map. This paper deals with development of an alternative position estimation method and implementation of LIDAR sensor and Raspberry PI for 2D space mapping.	eng
dc.format	p. 494-506	eng
dc.language.iso	eng	eng
dc.relation.ispartof	Journal of Fundamental and Applied Sciences, volume 10, issue: 3S 2018	eng
dc.rights	open access	eng
dc.subject	Navigation	eng
dc.subject	robotics	eng
dc.subject	platform	eng
dc.subject	unknown	eng
dc.subject	spaces	eng
dc.subject	using	eng
dc.subject	LIDAR	eng
dc.subject	Raspberry	eng
dc.subject	and	eng
dc.subject	Hector	eng
dc.subject	SLAM	eng
dc.subject	Navigace	cze
dc.subject	robotické	cze
dc.subject	platformy	cze
dc.subject	využití	cze
dc.subject	Lidaru	cze
dc.subject	Hector	cze
dc.subject	SLAM	cze
dc.title	Navigation of robotics platform in unknown spaces using LIDAR, Raspberry PI and Hector SLAM	eng
dc.title.alternative	Navigace robotické platformy za využití Lidaru a Hector SLAM	cze
dc.type	article	eng
dc.description.abstract-translated	This research is a base research of an alternative type navigation for our project ARES – Autonomous Research Exploration System. This system is focused on exploration of dangerous indoor spaces like caves, abandoned mines, ruins etc. In many cases, there is poor or no signal from satellite navigation systems and it is necessary to develop accurate navigation for our platform. Our platform is based on several systems like navigation using an inertial navigation unit, visual odometry and 3D space mapping. The result of our system will be a 3D map of space. The developed 3D space mapping needs accurate position for creation of a space map. This paper deals with development of an alternative position estimation method and implementation of LIDAR sensor and Raspberry PI for 2D space mapping.	cze
dc.peerreviewed	yes	eng
dc.publicationstatus	published	eng
dc.relation.publisherversion	https://www.ajol.info/index.php/jfas/article/view/171546
dc.project.ID	SGS_2017_030/Zpracování telekomunikačních a multimediálních signálů	eng
dc.identifier.obd	39879963	eng