Self exploration and mapping for indoor robotic applications

Access full-text files

Date

2021-05-04

Authors

Abeyta, Adrian Anthony

Journal Title

Journal ISSN

Volume Title

Publisher

Abstract

This thesis presents an autonomous self-exploration and mapping system for use with indoor robotic-based applications. For most indoor robotic applications, prior information of the environment by the construction of a map is needed before a mobile robotic system can be deployed. An imperative need for a robotic system that is capable of safely navigating and mapping an unknown environment autonomously, with little to no need for human interaction, is apparent. Truly autonomous navigation requires self-exploration in an unknown environment and detection of edge-case obstacles such as complex or negative obstacles. A 3D LIDAR and depth camera was selected and the integration of a developed exploration and obstacle detection algorithm with open-source ROS-based software was used to achieve full autonomy. The developed system was tested in multiple indoor environments and was successful in navigating and mapping unknown environments.

Description

LCSH Subject Headings

Citation