Autonomous 2D Mapping of Indoor Environment using Multiple LIDARs & ROS

With the rapid development of artificial intelligence and pattern recognition technology, intelligent robots have entered all aspects of industrial automation and human life. One of the most important features/functions of robot intelligence is to move autonomously, which is usually supported by pre

Project Title

Autonomous 2D Mapping of Indoor Environment using Multiple LIDARs & ROS

Project Area of Specialization

Electrical/Electronic Engineering

Project Summary

With the rapid development of artificial intelligence and pattern recognition technology, intelligent robots have entered all aspects of industrial automation and human life. One of the most important features/functions of robot intelligence is to move autonomously, which is usually supported by precise localization and reliable navigation. To achieve this, the common technique is Simultaneous Localization and Mapping (SLAM). SLAM includes two parts: localization and mapping, where localization is an important premise of mapping. The SLAM problem can be solved by maintaining a robot-state (pose and map) probability-density function or its moments. Depending on whether the environment is pre-given, localization can be divided into localization in a known environment and localization in an unknown environment. The localization in a known environment mainly considers the problem of positioning accuracy. Localization in an unknown environment often requires the use of external sensors to obtain information for estimating the robot’s position after processing.

      The approach we have adopted is both simple and novel. We are using multiple Autonomous SLAM Robots for the sake of mapping to cover the maximum area of Indoor environment. As the area to be mapped is totally unknown that’s why we’re using autonomous robots which will be self-driven, for the sake of collecting data for map we are using LIDARs which will be mounted on both of the SLAM Robot and each robot will be connected to a common server through wireless connectivity in a ROS environment. Each robot will give the data for map to the main server separately and after getting data and drawing map of both of the area, the ROS running on the main server will combine of the maps and gives us the final combined and completed map the indoor area that we’ve selected for.

      To make the vehicle autonomous we’ll use ultrasonic sensors or data that is coming from the LIDAR to check the obstacles that we need to avoid while moving and using these kind of data we’ll develop the logic for operation to move our robot accordingly and autonomously.

Project Objectives

The main objectives of our project includes:

• 2D mapping of Indoor Environment by using multiple LIDARs.
• All work will be done in ROS environment.
• SLAM technique will be used.
• The robots used for mapping will be Autonomous.

Project Implementation Method

 For the purpose of making SLAM robot we’ll have a mobile vehicle that will be equipped with a Raspberry Pi 3B (microcontroller) and another controller to operate motor driver and other supportive of the robot. ROS is the main tool which will play a vital in the completion of this project as all the algorithms for LIDAR will be executed in ROS, which will be installed on the each of the Raspberry Pi controller. The controller mounts for the purpose of driving motor will also connected from the Raspberry Pi. On the other side we’ll have a PC in which the ROS will also be installed and it it’ll become the ROS master. All of the robots and PC should be connected to a common server so that they can be linked.

     A communication is established between them (discussed below), the PC will send control command and the Raspberry Pi will read them, process them and gives appropriate commands to the motor driver through the controller that will be mounted to operate that motor drivers (discussed below), to control the motors to move the vehicle. The Pi will taking ranges from the LIDAR, process it and send the output map feed and live localization information to PC. The map and location of the vehicle inside the map will visualized on the PC.

The above block diagram shows the flow of operation performed in the whole project and it is to be seen that the things are connected to a single network through Wi-Fi connection.

Block Diagram of Vehicle which shows the algorithm of both SLAM

 

 

Block Diagram of complete project that shows the complete flow.

Benefits of the Project

• It will be very beneficial for the mapping of the areas which are congested in size and a men cannot be able to go there and observe the obstacles is that area.  

• As it based on the LIDAR sensor which is based on the light technology have ability to get the range of Omni direction with a single sensor it will effective as it will cover all the area.
• For those areas where human life can be risk from the hazardous environment this robot will be feasible to get the 2D details of that area and can get the final map of unknown area.
• The indoor environment can easily be covered for the mapping from this project and it will be faster as there are multiple robots which will be used to cover that area and the final output will become faster and the accuracy will also be increased.

Technical Details of Final Deliverable

To get the ranges of real environment that where the obstacle available or not we’ll use a LIDAR sensor which is based on the principle of light transmitting and receiving at Omni direction, the receiving time will define the range of obstacle which can be calibrated and used. For the purpose of motor driving an Arduino will be placed which is connected to the Raspberry Pi and the node for that Arduino will be running on the Pi controller.

      To drive the motors of the vehicle the H-Bridge module of L298M will be used which will be connected from Arduino and the ultrasonic sensors mounted will also be connected from that Arduino.

      For the purpose of making the vehicle autonomous we'll use the data of LIDAR which will help us to get that, where the obstacle is present and through the alogoruithm it will be set that where the vehicle have to move to complete the desired task.

Final Deliverable of the Project

HW/SW integrated system

Type of Industry

Transportation , Others , Security

Technologies

Robotics

Sustainable Development Goals

Industry, Innovation and Infrastructure

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com