Design of a holonomic robotic system for interior reconstruction using SLAM

Abstract

In recent years, interest in robotic systems that incorporate autonomous navigation has grown, but many of these focus mainly on equipping a car with these characteristics, leaving aside cases of interior environments. This article focuses in designing a holonomic robotic system that can be used for indoor 3D reconstruction tasks, managing an independent approach between SLAM techniques and design of the holonomic robotic system (including its kinematic analysis), subsequently related by odometry data; finally, was incorporate a SLAM algorithm for 3D reconstruction from a RGBD sensor and the simulation of the holonomic system, including its kinematics and control, throughout the framework called ROS.