Construction and benchmark of an autonomous tracked mobile robot system
نویسندگان
چکیده
Robots require a certain set of skills to perceive and analyse the environment act accordingly. For tracked mobile robots getting good odometry data from sensory information is challenging key prerequisite perform in an unstructured dynamic environment, thus essential issue robotics domain. In this article, we construct ROS-based robot system taking Jaguar V4 as base platform. On which several visual solutions based on different cameras methods (Intel RealSense T265, Zed camera, RTAB-Map RGBD) are integrated benchmark comparison performed. Analysis new challenges faced by while applied vehicle well recommendations conclusions presented. Intel T265 solution proved uncertain conditions involves bounded vibrations low lighting with latency, result map generation. Further evaluations path planning algorithm were conducted test effect robot’s motion profiles accuracy.
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ژورنال
عنوان ژورنال: Robotic systems and applications
سال: 2022
ISSN: ['2669-2473']
DOI: https://doi.org/10.21595/rsa.2022.22336