Development of an indoor localization and navigation system based on monocular SLAM for mobile robots

TL;DR

An approach for localization and navigation systems for a differential-drive robot based on monocular SLAM based on the Robot Operating System (ROS) is proposed, demonstrating the efficiency and potential of the system for indoor localization and navigation of mobile robots.

Abstract

Localization and navigation are two crucial issues for mobile robots. In this paper, we propose an approach for localization and navigation systems for a differential-drive robot based on monocular SLAM. The system is implemented on the Robot Operating System (ROS). The hardware includes a differential-drive robot with an embedded computing platform (Jetson Xavier AGX), a 2D camera, and a LiDAR sensor for collecting external environmental information. The A* algorithm and Dynamic Window Approach (DWA) are used for path planning based on a 2D grid map. The ORB_SLAM3 algorithm is utilized to extract environmental features, providing the robot's pose for the localization and navigation processes. Finally, the system is tested in the Gazebo simulation environment and visualized through Rviz, demonstrating the efficiency and potential of the system for indoor localization and navigation of mobile robots.

Figures (11)

• Figure 1: Tổng quan hệ thống phần cứng
• Figure 2: Sơ đồ kết nối các thành phần hệ thống
• Figure 3: Hệ trục tọa độ của robot hai bánh vi sai
• Figure 4: Tổng quan hệ thống định vị và dẫn đường dựa trên monocular SLAM
• Figure 5: Môi trường giả lập trong nhà