Mobile robot autonomous navigation using ORB-SLAM2
Abstract
This paper presents the implementation of an autonomous navigation system for a differential mobile robot, which combines the Simultaneous Localization and Mapping (SLAM) technique, ORB-SLAM2 with an RGB-D camera, and the BUG0 algorithm for obstacle avoidance integrated in the ROS (Robot Operating System) framework. The proposed system was experimentally evaluated in a real environment and achieved efficient and safe autonomous navigation in the presence of obstacles. Experimental results showed that the system was capable of generating optimal trajectories around obstacles and maintained a safe distance to avoid collisions. Furthermore, satisfactory results were obtained in terms of accuracy in pose estimation and trajectory generation.
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References
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Copyright (c) 2023 Rodolfo de Jesús Villalobos-Salazar, Mario Castelán, Pablo Alonso Ochoa-Salinas, América Berenice Morales-Díaz
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