Autonomous Navigation Robot using Slam and Path Planning Based on a Single RP-LIDAR
This paper proposes an autonomous robotics system based on a single LIDAR sensor for delivering goods. There are needs to deliver goods such as medical supplies to the hospital and document in office. Although this task is simple, the delivery task is time consuming, tedious, and boring. In this reg...
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| Language: | en |
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semarak ilmu
2025
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| Online Access: | http://eprints.uthm.edu.my/12757/1/J18631_2b6b65644d3a1c1d153851379a264d7f.pdf http://eprints.uthm.edu.my/12757/ https://doi.org/10.37934/araset.53.2.161169 |
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| author | Shamsudin, Abu Ubaidah Mohd Sharif, Puteri Alisha Balqis Adil Soomro, Zubair Abdul Rahim, Ruzairi Mohd Faudzi, Ahmad Athif Wan Zakaria, Wan Nurshazwani Peeie, Mohamad Heerwan Salaan, Carl John |
| author_facet | Shamsudin, Abu Ubaidah Mohd Sharif, Puteri Alisha Balqis Adil Soomro, Zubair Abdul Rahim, Ruzairi Mohd Faudzi, Ahmad Athif Wan Zakaria, Wan Nurshazwani Peeie, Mohamad Heerwan Salaan, Carl John |
| author_sort | Shamsudin, Abu Ubaidah |
| building | UTHM Library |
| collection | Institutional Repository |
| content_provider | Universiti Tun Hussein Onn Malaysia |
| content_source | UTHM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | This paper proposes an autonomous robotics system based on a single LIDAR sensor for delivering goods. There are needs to deliver goods such as medical supplies to the hospital and document in office. Although this task is simple, the delivery task is time consuming, tedious, and boring. In this regard, autonomous robotic systems could be a suitable solution. Here-in, we proposed the use of a single RP-LIDAR sensor in a robotic system that is sufficient for delivering goods in indoor environment. The robotic system uses autonomous navigation module which consists of simultaneous localization and mapping (SLAM) of the environment, and path planning for the robot to move safely from its current location to a desired position. In the context of SLAM, Hector SLAM method was opted due to its capability to harness sufficient data from a single LIDAR
sensor. When it comes to path planning, the system employs a two-pronged approach. First, a global planner, utilizing the A* algorithm, facilitates long-distance trajectory planning while accounting for static obstacles. Second, a local planner, employing the Trajectory Rollout and Dynamic Window Approach (DWA), ensures real-time obstacle avoidance in the presence of moving obstacles. The approach was evaluated in a laboratory environment (11 meter by 8 meter) and successfully built a path that avoided obstacles in both static and dynamic conditions. This approach for autonomous robotics using a single RP-LIDAR sensor has the potential to revolutionize the delivery industry and other sectors that require autonomous navigation. |
| format | Article |
| id | my.uthm.eprints-12757 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | en |
| publishDate | 2025 |
| publisher | semarak ilmu |
| record_format | eprints |
| spelling | my.uthm.eprints-127572025-07-02T00:11:18Z http://eprints.uthm.edu.my/12757/ Autonomous Navigation Robot using Slam and Path Planning Based on a Single RP-LIDAR Shamsudin, Abu Ubaidah Mohd Sharif, Puteri Alisha Balqis Adil Soomro, Zubair Abdul Rahim, Ruzairi Mohd Faudzi, Ahmad Athif Wan Zakaria, Wan Nurshazwani Peeie, Mohamad Heerwan Salaan, Carl John TJ Mechanical engineering and machinery This paper proposes an autonomous robotics system based on a single LIDAR sensor for delivering goods. There are needs to deliver goods such as medical supplies to the hospital and document in office. Although this task is simple, the delivery task is time consuming, tedious, and boring. In this regard, autonomous robotic systems could be a suitable solution. Here-in, we proposed the use of a single RP-LIDAR sensor in a robotic system that is sufficient for delivering goods in indoor environment. The robotic system uses autonomous navigation module which consists of simultaneous localization and mapping (SLAM) of the environment, and path planning for the robot to move safely from its current location to a desired position. In the context of SLAM, Hector SLAM method was opted due to its capability to harness sufficient data from a single LIDAR sensor. When it comes to path planning, the system employs a two-pronged approach. First, a global planner, utilizing the A* algorithm, facilitates long-distance trajectory planning while accounting for static obstacles. Second, a local planner, employing the Trajectory Rollout and Dynamic Window Approach (DWA), ensures real-time obstacle avoidance in the presence of moving obstacles. The approach was evaluated in a laboratory environment (11 meter by 8 meter) and successfully built a path that avoided obstacles in both static and dynamic conditions. This approach for autonomous robotics using a single RP-LIDAR sensor has the potential to revolutionize the delivery industry and other sectors that require autonomous navigation. semarak ilmu 2025 Article PeerReviewed text en http://eprints.uthm.edu.my/12757/1/J18631_2b6b65644d3a1c1d153851379a264d7f.pdf Shamsudin, Abu Ubaidah and Mohd Sharif, Puteri Alisha Balqis and Adil Soomro, Zubair and Abdul Rahim, Ruzairi and Mohd Faudzi, Ahmad Athif and Wan Zakaria, Wan Nurshazwani and Peeie, Mohamad Heerwan and Salaan, Carl John (2025) Autonomous Navigation Robot using Slam and Path Planning Based on a Single RP-LIDAR. Journal of Advanced Research in Applied Sciences and Engineering Technology, 53 (2). pp. 161-169. ISSN 2462-1943 https://doi.org/10.37934/araset.53.2.161169 |
| spellingShingle | TJ Mechanical engineering and machinery Shamsudin, Abu Ubaidah Mohd Sharif, Puteri Alisha Balqis Adil Soomro, Zubair Abdul Rahim, Ruzairi Mohd Faudzi, Ahmad Athif Wan Zakaria, Wan Nurshazwani Peeie, Mohamad Heerwan Salaan, Carl John Autonomous Navigation Robot using Slam and Path Planning Based on a Single RP-LIDAR |
| title | Autonomous Navigation Robot using Slam and Path Planning Based on a Single RP-LIDAR |
| title_full | Autonomous Navigation Robot using Slam and Path Planning Based on a Single RP-LIDAR |
| title_fullStr | Autonomous Navigation Robot using Slam and Path Planning Based on a Single RP-LIDAR |
| title_full_unstemmed | Autonomous Navigation Robot using Slam and Path Planning Based on a Single RP-LIDAR |
| title_short | Autonomous Navigation Robot using Slam and Path Planning Based on a Single RP-LIDAR |
| title_sort | autonomous navigation robot using slam and path planning based on a single rp-lidar |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.uthm.edu.my/12757/1/J18631_2b6b65644d3a1c1d153851379a264d7f.pdf http://eprints.uthm.edu.my/12757/ https://doi.org/10.37934/araset.53.2.161169 |
| url_provider | http://eprints.uthm.edu.my/ |