Integration of SLAM System in Mobile Robot for 2D Map Generation with RPLiDAR A1 Sensor

Abstract

New emerging technologies such as LIDAR sensors are being explored for application fields. Their ability to continuously and accurately record distance measurements makes them ideal for SLAM systems, since this system is based on simultaneous mapping and localization in unknown environments. This work implemented the use of this technology through a rotating LIDAR sensor in conjunction with SLAM methodology to create an autonomous robot capable of mapping interiors by navigating through it, avoiding obstacles and the limits of the environment. A robot powered by 2 motors was designed and implemented, which allow the robot to move around the environment. Infrared proximity sensors incorporated in the front section allow obstacle detection and control over the wheels, avoiding this by turning depending on the sensor where the obstacle was detected. As a result of the design process, a robot was assembled with the required elements. It was able to move around the designated environment, detecting and avoiding obstacles through the joint work of motors and sensors. Additionally, a manual control function was incorporated, allowing the operator to exercise control over the robot's movement. A map of the work area was obtained using the LIDAR sensor built into the top. However, for operation and obtaining results in real time, it is necessary to use a cable connected to a computer, allowing the transfer of data from the sensor and its direct display by software.