Navigation of robotics platform in unknown spaces using LIDAR, Raspberry PI and hector slam

Abstract

This research is a base research of an alternative type navigation for our project ARES – Autonomous Research Exploration System. This system is focused on exploration of dangerous indoor spaces like caves, abandoned mines, ruins etc. In manycases, there is poor or no signal from satellite navigation systems and it is necessary to develop accurate navigation for our platform. Our platform is based on several systems like navigation using an inertial navigation unit, visual odometry and 3D space mapping. The result of our system will be a 3D map of space. The developed 3D space mapping needs accurate position for creation of a space map. This paper deals withdevelopment of an alternative position estimation method and implementation of LIDAR sensor and Raspberry PI for 2D space mapping.

Keywords: Robot navigation, Exploration system, Space mapping, SLAM