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Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties

This paper aims to investigate Robot Operating System (ROS) based environment modelling and mobile robot position estimation considering dead reckoning and uncertainties. A mobile robot movement is analyzed in a few environment conditions by using Extended Kalman Filter with ROS to identify and exam...

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Main Authors: Hamzah, Ahmad, Mohamad Heerwan, Peeie, Mohd Syakirin, Ramli, Amir Akramin, Shafie, Mohd Hezri Fazalul, Rahiman
Format: Conference or Workshop Item
Language:English
English
Published: Institute of Electrical and Electronics Engineers Inc. 2021
Subjects:
T Technology (General)
TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
TK Electrical engineering. Electronics Nuclear engineering
TL Motor vehicles. Aeronautics. Astronautics
Online Access:http://umpir.ump.edu.my/id/eprint/42392/1/Investigation%20of%20ROS%20based%20environment%20modelling.pdf
http://umpir.ump.edu.my/id/eprint/42392/2/Investigation%20of%20ROS%20based%20environment%20modelling%20and%20mobile%20robot%20position%20estimation%20with%20dead%20reckoning%20and%20uncertainties_ABS.pdf
http://umpir.ump.edu.my/id/eprint/42392/
https://doi.org/10.1109/IEACon51066.2021.9654762
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spelling my.ump.umpir.423922024-10-30T04:40:00Z http://umpir.ump.edu.my/id/eprint/42392/ Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties Hamzah, Ahmad Mohamad Heerwan, Peeie Mohd Syakirin, Ramli Amir Akramin, Shafie Mohd Hezri Fazalul, Rahiman T Technology (General) TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics This paper aims to investigate Robot Operating System (ROS) based environment modelling and mobile robot position estimation considering dead reckoning and uncertainties. A mobile robot movement is analyzed in a few environment conditions by using Extended Kalman Filter with ROS to identify and examined the mobile robot estimation performance on its surroundings. The heading angle and initial state covariance performance are assessed with different mobile robot movement. The paper is organized mainly to describe the results from both simulation and experiment using Extended Kalman Filter that consists of undetermined and unpredictable environment states. For experimental verification, a Turtlebot3 equipped with a 360-degree LiDAR and IMU is being applied to demonstrate the performance of estimation in a situation that has unknown uncertainties in several conditions. Both simulation and experimental results indicates that state covariance is converging lesser than the initial state covariance in any environmental cases which is in contrast with the literatures. Besides, it is also found that the mobile robot heading angle is important to be accurate at all times for better estimation results. Institute of Electrical and Electronics Engineers Inc. 2021 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/42392/1/Investigation%20of%20ROS%20based%20environment%20modelling.pdf pdf en http://umpir.ump.edu.my/id/eprint/42392/2/Investigation%20of%20ROS%20based%20environment%20modelling%20and%20mobile%20robot%20position%20estimation%20with%20dead%20reckoning%20and%20uncertainties_ABS.pdf Hamzah, Ahmad and Mohamad Heerwan, Peeie and Mohd Syakirin, Ramli and Amir Akramin, Shafie and Mohd Hezri Fazalul, Rahiman (2021) Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties. In: IEACon 2021 - 2021 IEEE Industrial Electronics and Applications Conference. 2nd IEEE Industrial Electronics and Applications Conference, IEACon 2021 , 22 - 23 November 2021 , Virtual, Online. pp. 19-24.. ISBN 978-172819253-6 (Published) https://doi.org/10.1109/IEACon51066.2021.9654762
institution Universiti Malaysia Pahang Al-Sultan Abdullah
building UMPSA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang Al-Sultan Abdullah
content_source UMPSA Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
English
topic T Technology (General)
TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
TK Electrical engineering. Electronics Nuclear engineering
TL Motor vehicles. Aeronautics. Astronautics
spellingShingle T Technology (General)
TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
TK Electrical engineering. Electronics Nuclear engineering
TL Motor vehicles. Aeronautics. Astronautics
Hamzah, Ahmad
Mohamad Heerwan, Peeie
Mohd Syakirin, Ramli
Amir Akramin, Shafie
Mohd Hezri Fazalul, Rahiman
Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties
description This paper aims to investigate Robot Operating System (ROS) based environment modelling and mobile robot position estimation considering dead reckoning and uncertainties. A mobile robot movement is analyzed in a few environment conditions by using Extended Kalman Filter with ROS to identify and examined the mobile robot estimation performance on its surroundings. The heading angle and initial state covariance performance are assessed with different mobile robot movement. The paper is organized mainly to describe the results from both simulation and experiment using Extended Kalman Filter that consists of undetermined and unpredictable environment states. For experimental verification, a Turtlebot3 equipped with a 360-degree LiDAR and IMU is being applied to demonstrate the performance of estimation in a situation that has unknown uncertainties in several conditions. Both simulation and experimental results indicates that state covariance is converging lesser than the initial state covariance in any environmental cases which is in contrast with the literatures. Besides, it is also found that the mobile robot heading angle is important to be accurate at all times for better estimation results.
format Conference or Workshop Item
author Hamzah, Ahmad
Mohamad Heerwan, Peeie
Mohd Syakirin, Ramli
Amir Akramin, Shafie
Mohd Hezri Fazalul, Rahiman
author_facet Hamzah, Ahmad
Mohamad Heerwan, Peeie
Mohd Syakirin, Ramli
Amir Akramin, Shafie
Mohd Hezri Fazalul, Rahiman
author_sort Hamzah, Ahmad
title Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties
title_short Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties
title_full Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties
title_fullStr Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties
title_full_unstemmed Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties
title_sort investigation of ros based environment modelling and mobile robot position estimation with dead reckoning and uncertainties
publisher Institute of Electrical and Electronics Engineers Inc.
publishDate 2021
url http://umpir.ump.edu.my/id/eprint/42392/1/Investigation%20of%20ROS%20based%20environment%20modelling.pdf
http://umpir.ump.edu.my/id/eprint/42392/2/Investigation%20of%20ROS%20based%20environment%20modelling%20and%20mobile%20robot%20position%20estimation%20with%20dead%20reckoning%20and%20uncertainties_ABS.pdf
http://umpir.ump.edu.my/id/eprint/42392/
https://doi.org/10.1109/IEACon51066.2021.9654762
_version_ 1822924728255381504
score 13.232406

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