An Asus_xtion_probased indoor MAPPING using a Raspberry Pi with Turtlebot robot Turtlebot robot

Abstract

The developers of path planning algorithms and localization have significantly improved the usability of the robot those days. By using software such as a Gmapping, the robot will be able to create a map of the surrounding area. This research utilizes the 3D sensor Asus_xtion_ pro to create an indoor map using SLAM and create 3D models for surrounding objects with a Turtlebot robot. In the first case, we used the Turtlebot to generate an indoor map of the robotic lab room using the Gmapping ROS packet. In the second case, we used the robot to create 3D models for the surrounding objects in the room. We used the Raspberry Pi 3 as a replacement of the laptop that was used to control the Turtlebot. The same implementation of the first and second tasks have been repeated to compare the performance. The Raspberry Pi accomplishes the given tasks successfully; however, there is some delay due to the different on the CPU power. Finally, the low cost proposed solution is capable of running ROS based SLAM algorithm and using the point on cloud to create 3D models. In addition, the use of Raspberry Pi allows the robot save considerable amount of power in contrast with the use of a normal laptop.