MOBİL ROBOTLAR İÇİN ROS KULLANILARAK 2B SLAM ALGORİTMALARININ KARŞILAŞTIRILMASI

Yıl 2023, Cilt: 24 Sayı: 2, 29 - 38, 28.12.2023

İrem Mertyuz , Oğuz Yakut , Beyda Taşar

https://doi.org/10.59314/tujes.1347214

Öz

Bu çalışmada iç mekanlarda kullanılmak üzere tasarlanan mobil robotlar için SLAM algoritmalarının uygulamaları gerçekleştirilmiştir. SLAM uygulamaları ROS kullanılarak Turtlebot3 Burger Robot ile yapılmıştır. Robot üzerine monte edilen LİDAR sensör verisi kullanılarak GMapping, Hector SLAM, Frontier SLAM ve Karto Slam olmak üzere dört farklı SLAM algoritması tasarlanan bir parkur içerinde çalıştırılmıştır. Deneysel çalışmalardan elde edilen haritalarla her algoritmanın SSIM değeri hesaplanarak haritaların kalite ve doğruluğu analiz edilmiştir.

Anahtar Kelimeler

Gmapping, Hector, Karto, Frontier, SSIM

COMPARISON OF 2D SLAM ALGORITHMS USING ROS FOR MOBILE ROBOTS

Öz

In this study, the applications of SLAM algorithms for mobile robots designed to be used indoors are carried out. SLAM applications were made with Turtlebot3 Burger Robot using ROS. Using the LIDAR sensor data mounted on the robot, four different SLAM algorithms, namely GMapping, Hector SLAM, Frontier SLAM and Karto Slam, were run in a designed track. The quality and accuracy of the maps were analyzed by calculating the SSIM value of each algorithm with the maps obtained from the experimental studies.

Anahtar Kelimeler

Gmapping, Hector, Karto, Frontier, SSIM

Kaynakça

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