Robotic Autonomous Exploration SLAM Using Combination Of Kinect With Laser Scanner And Path Planning Based On ROS

The robot base system is an important part of the robot movement,mainly including the robot base,all kinds of sensors(ultrasonic,laser,infrared)and upper monitor.The main function consists of building a map and path planning navigation.At this stage,these two aspects of robot base research are also an problem to be solved urgently.As a basis for navigation,building map has become a most important part,and the question of how to build a map that has enough accuracy and enough details of the obstacles has become the key points.At the same time,most of the mapping method are manual control of the robot to build the map.The level of automation is not high,and the efficiency is low.In this paper,we propose a new way of constructing a map,that is,robotic autonomous exploration SLAM use the combination of multi-sensor data,and use autonomous path planning at the sane time.In this way,we will not only obtain high accurate map with enough detail information,but also through the autonomous exploration to complete the construction of a map.Meanwhile,we will save manpower and material resources.And it will provide powerful technical support for the future of the robot.Firstly,in this paper,the autonomous exploration SLAM algorithm based on the frontier that separates known(explored)regions from unknown regions is proposed.The feasibility of the algorithm is verified by experiment in the area of ping-pang table.Then we explain the principle of navigation based on the boundary when exploring.And we introduce two path planning algorithms that can be used in the exploration---Dijkstra algorithm and A* algorithm,then comparing the advantages and disadvantages of the two algorithms.Eventually,Dijkstra algorithm is chosen as the path planning algorithm.Last but not least,we explain the combination of multi-sensor data,which combines the sensor data of XBOX Kinect and Hokuyo Lidar.And sensors data after combination will use on autonomous exploration SLAM based on the boundary.So that the robot can autonomous exploration SLAM using combination of Kinect with laser scanner.After we use Turtlebot robot,Hokuyo UST-10 LX laser lidar and other test equipments,in the State Key Laboratory of Intelligent Technology and System,Tsinghua University.And using Tsinghua University FIT floor in the elevator hall,5th floor corridor as experimental sites.experiments show that a map constructed by the innovative design has a high accuracy and as much map detail as possible,in addition,this research can shorten the time required to build the map.Besides,we do not need to Manual control SLAM,and this research also lowered the threshold of building a map.We can popularize the robot base more easily.