Shih-An Li1, Hsuan-Ming Feng This email address is being protected from spambots. You need JavaScript enabled to view it.2, Kung-Han Chen1, Jian-Ming Lin1 and Li-Hsiang Chou1

1Department of Electrical Engineering, Tamkang University, Tamsui, Taiwan 251, R.O.C.
2Department of Computer Science and Information Engineering, National Quemoy University, Kinmen, Taiwan 892, R.O.C.


Received: October 25, 2017
Accepted: February 27, 2018
Publication Date: September 1, 2018

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This paper applies a virtual robot operating system (ROS) platform to concurrently perform the automatic map generation and appropriate path planning for robot navigation applications. The powerful ROS works as a self-constructed robotic facility to perfectly achieve the maps generation and robot localization functions. LiDAR dynamically scanned the required information from the outsides environment and matched the visual maps for reaching the best path coverage and predicting the accurate robot location. ROS-based GAZEBO plant with the flexible and friendly interface is taken to simultaneously imitate the robot environment. In the illustrated experiments, an efficient A*algorithm is approved to build the near optimal routing path within one second executing time. Hector SLAM technology is employed to automatically generate the robot maps for completing nonlinear and complexed navigation applications.

Keywords: Robot Operating System, GAZEBO Simulator, A* Algorithm, LiDAR


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