Abstract
In this paper, we present a navigation system, including off-line mapping and on-line localization, for the Fetch robot in an indoor environment using Cartographer. This framework aims to build a practical, robust, and accurate Robot Operating System (ROS) package for the Fetch robot. Firstly, using Cartographer and the fusion of data from a laser scan and RGB-D camera, a two-dimensional (2D) off-line map is built. Then, the Adaptive Monte Carlo Localization (AMCL) ROS package is used to perform on-line localization. We use a simulation to validate this method of mapping and localization, then demonstrate our method live on the Fetch robot. A video about the simulation and experiment is shown in https://youtu.be/oOvxTOowe34.
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CITATION STYLE
Zhu, H., Leighton, B., Chen, Y., Ke, X., Liu, S., & Zhao, L. (2019). Indoor Navigation System Using the Fetch Robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 11743 LNAI, pp. 686–696). Springer Verlag. https://doi.org/10.1007/978-3-030-27538-9_59
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