کنفرانس مهندسی برق ایران

صفحه اصلی / سی و چهارمین کنفرانس بین المللی مهندسی برق

LiDAR-based Navigation System for a Semi-Heavy Autonomous Mobile Robot

نویسندگان :

Amir Mohammad Rostamabadi¹ Majid Shalchian²

1- دانشگاه صنعتی امیرکبیر 2- دانشگاه صنعتی امیرکبیر

کلمات کلیدی :

Autonomous Mobile Robot (AMR)،LiDAR-based Navigation،Robot Operating System (ROS)،Hector SLAM

چکیده :

Autonomous Mobile Robots (AMRs) are increasingly adopted in industrial logistics due to their flexibility and ability to operate without dedicated infrastructure. This research presents the design and implementation of a LiDAR-based autonomous navigation system for a semi-heavy mobile robot with a payload capacity of 100 kg. The primary objective is to achieve environmental mapping and reliable autonomous navigation in indoor environments without reliance on physical guidance systems or wheel odometry.. The proposed system integrates a 2D LiDAR sensor within the Robot Operating System (ROS) framework and employs the Hector SLAM algorithm for real-time map generation and localization.. Autonomous navigation is achieved using the ROS Navigation Stack, incorporating global and local planners for path planning and dynamic obstacle avoidance. In addition, a custom middleware interface is developed to safely transmit velocity commands from the high-level planner to the low-level motor controller. Experimental evaluations conducted in real-world corridor environments demonstrate robust navigation performance, achieving a positioning error of less than 10 cm, validating the effectiveness of the proposed approach for industrial logistics applications.