Autonomous Driving Robot for Indoor 2D Mapping

摘要

This paper aims to develop a robot capable of 2D mapping using a LiDAR sensor and autonomous driving robot within a defined interior area, with the goal of increasing the accuracy of the obtained map compared to other similar algorithms. The robot is designed to prioritize quietness and efficiency of operation, while maintaining cost-effectiveness. Maps are autonomously generated and transferred to the database for manual retrieval, thus enabling users to view them through the mobile application. During the mapping procedure, the data from the LiDAR sensor is visualized as a live map using the ROS framework on a virtual machine with an SSH connection to a Raspberry Pi. Limitations include non- Wi-Fi environments and environmental obstacles such as the presence of mirrors. Additionally, a unique driving robot algorithm was constructed to excel within indoor environments, (e.g, Houses and Buildings).