Development of an AMR Applying Cartographer Combined with Visual Odometry for Navigation

Chang-Ching  Huang; Chien-Hung  Huang; Jin-Siang  Shaw

doi:10.6180/jase.202501_28(1).0004

Development of an AMR Applying Cartographer Combined with Visual Odometry for Navigation

Chang-Ching Huang, Chien-Hung Huang, and Jin-Siang ShawThis email address is being protected from spambots. You need JavaScript enabled to view it.

Institute of Mechatronic Engineering, National Taipei University of Technology, Taipei, Taiwan

Received: October 26, 2023
Accepted: February 1, 2024
Publication Date: March 8, 2024

Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.

Download Citation: ||https://doi.org/10.6180/jase.202501_28(1).0004

This study aims to develop an autonomous mobile robot (AMR) for accurate positioning in a robot operation system (ROS) architecture. The research method uses the information obtained by the laser rangefinder to cooperate with the Cartographer SLAM algorithm to build a map and position the robot in the environment. In addition, the RGBD camera is used for visual odometry to assist Cartographer SLAM in improving positioning accuracy. For path planning, the global planning method uses the A* algorithm, and through the time elastic band (TEB) local path planning algorithm. After repeating the accuracy test 15 times, the average absolute error of the localization was 4.48 cm, which is more accurate than the result obtained using Cartographer SLAM alone at 9.94 cm. Hence, the positioning accuracy was improved by 55%.

Keywords: ROS, Navigation, Cartographer, TEB, ORB-SLAM2

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