Design and Implementation of Autonomous Navigation System Based on Tracked Mobile Robot

Hui Li; Junhan Cui; Yifan Ma; Jiawei Tan; Xiaolei Cao; Chunlong Yin; Zhihong Jiang

doi:10.1007/978-981-99-0617-8_23

Design and Implementation of Autonomous Navigation System Based on Tracked Mobile Robot

Hui Li, Junhan Cui, Yifan Ma, Jiawei Tan, Xiaolei Cao, Chunlong Yin, Zhihong Jiang^*

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, we introduce an autonomous exploration and rescue robot system based on a tracked mobile robot platform equipped with a 7 degree-of-freedom (DoF) manipulator, which realizes autonomous navigation in indoor environments and autonomous stair climbing for safe and efficient search and rescue tasks. In Sect. 2, the hardware design of the robot system is presented, which allows flexible movement and high passability to complete obstacle crossing and stair climbing. In Sects. 3 and 4, the indoor navigation algorithm and the stair detection algorithm of the robot system are presented, respectively. The ROS-based system uses the cartographer algorithm for map construction, ROS navigation for autonomous navigation and obstacle avoidance, and a depth camera for stair detection. The process of a four-flipper tracked mobile robot stair climbing is designed. The robot system is experimentally verified in Sect. 5.

Original language	English
Title of host publication	Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers
Editors	Fuchun Sun, Angelo Cangelosi, Jianwei Zhang, Yuanlong Yu, Huaping Liu, Bin Fang
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	329-350
Number of pages	22
ISBN (Print)	9789819906161
DOIs	https://doi.org/10.1007/978-981-99-0617-8_23
Publication status	Published - 2023
Event	7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022 - Fuzhou, China Duration: 17 Dec 2022 → 18 Dec 2022

Publication series

Name	Communications in Computer and Information Science
Volume	1787 CCIS
ISSN (Print)	1865-0929
ISSN (Electronic)	1865-0937

Conference

Conference	7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022
Country/Territory	China
City	Fuzhou
Period	17/12/22 → 18/12/22

Keywords

Autonomous stair climbing
Navigation
Path planning
SLAM
Tracked robot

Access to Document

10.1007/978-981-99-0617-8_23

Cite this

Li, H., Cui, J., Ma, Y., Tan, J., Cao, X., Yin, C., & Jiang, Z. (2023). Design and Implementation of Autonomous Navigation System Based on Tracked Mobile Robot. In F. Sun, A. Cangelosi, J. Zhang, Y. Yu, H. Liu, & B. Fang (Eds.), Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers (pp. 329-350). (Communications in Computer and Information Science; Vol. 1787 CCIS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-0617-8_23

Li, Hui ; Cui, Junhan ; Ma, Yifan et al. / Design and Implementation of Autonomous Navigation System Based on Tracked Mobile Robot. Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. editor / Fuchun Sun ; Angelo Cangelosi ; Jianwei Zhang ; Yuanlong Yu ; Huaping Liu ; Bin Fang. Springer Science and Business Media Deutschland GmbH, 2023. pp. 329-350 (Communications in Computer and Information Science).

@inproceedings{65cbe6d0b696475dab6543748756b880,

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abstract = "In this paper, we introduce an autonomous exploration and rescue robot system based on a tracked mobile robot platform equipped with a 7 degree-of-freedom (DoF) manipulator, which realizes autonomous navigation in indoor environments and autonomous stair climbing for safe and efficient search and rescue tasks. In Sect. 2, the hardware design of the robot system is presented, which allows flexible movement and high passability to complete obstacle crossing and stair climbing. In Sects. 3 and 4, the indoor navigation algorithm and the stair detection algorithm of the robot system are presented, respectively. The ROS-based system uses the cartographer algorithm for map construction, ROS navigation for autonomous navigation and obstacle avoidance, and a depth camera for stair detection. The process of a four-flipper tracked mobile robot stair climbing is designed. The robot system is experimentally verified in Sect. 5.",

keywords = "Autonomous stair climbing, Navigation, Path planning, SLAM, Tracked robot",

author = "Hui Li and Junhan Cui and Yifan Ma and Jiawei Tan and Xiaolei Cao and Chunlong Yin and Zhihong Jiang",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022 ; Conference date: 17-12-2022 Through 18-12-2022",

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Li, H, Cui, J, Ma, Y, Tan, J, Cao, X, Yin, C & Jiang, Z 2023, Design and Implementation of Autonomous Navigation System Based on Tracked Mobile Robot. in F Sun, A Cangelosi, J Zhang, Y Yu, H Liu & B Fang (eds), Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. Communications in Computer and Information Science, vol. 1787 CCIS, Springer Science and Business Media Deutschland GmbH, pp. 329-350, 7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022, Fuzhou, China, 17/12/22. https://doi.org/10.1007/978-981-99-0617-8_23

Design and Implementation of Autonomous Navigation System Based on Tracked Mobile Robot. / Li, Hui; Cui, Junhan; Ma, Yifan et al.
Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. ed. / Fuchun Sun; Angelo Cangelosi; Jianwei Zhang; Yuanlong Yu; Huaping Liu; Bin Fang. Springer Science and Business Media Deutschland GmbH, 2023. p. 329-350 (Communications in Computer and Information Science; Vol. 1787 CCIS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Li, Hui

AU - Cui, Junhan

AU - Ma, Yifan

AU - Tan, Jiawei

AU - Cao, Xiaolei

AU - Yin, Chunlong

AU - Jiang, Zhihong

PY - 2023

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N2 - In this paper, we introduce an autonomous exploration and rescue robot system based on a tracked mobile robot platform equipped with a 7 degree-of-freedom (DoF) manipulator, which realizes autonomous navigation in indoor environments and autonomous stair climbing for safe and efficient search and rescue tasks. In Sect. 2, the hardware design of the robot system is presented, which allows flexible movement and high passability to complete obstacle crossing and stair climbing. In Sects. 3 and 4, the indoor navigation algorithm and the stair detection algorithm of the robot system are presented, respectively. The ROS-based system uses the cartographer algorithm for map construction, ROS navigation for autonomous navigation and obstacle avoidance, and a depth camera for stair detection. The process of a four-flipper tracked mobile robot stair climbing is designed. The robot system is experimentally verified in Sect. 5.

AB - In this paper, we introduce an autonomous exploration and rescue robot system based on a tracked mobile robot platform equipped with a 7 degree-of-freedom (DoF) manipulator, which realizes autonomous navigation in indoor environments and autonomous stair climbing for safe and efficient search and rescue tasks. In Sect. 2, the hardware design of the robot system is presented, which allows flexible movement and high passability to complete obstacle crossing and stair climbing. In Sects. 3 and 4, the indoor navigation algorithm and the stair detection algorithm of the robot system are presented, respectively. The ROS-based system uses the cartographer algorithm for map construction, ROS navigation for autonomous navigation and obstacle avoidance, and a depth camera for stair detection. The process of a four-flipper tracked mobile robot stair climbing is designed. The robot system is experimentally verified in Sect. 5.

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KW - Navigation

KW - Path planning

KW - SLAM

KW - Tracked robot

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Li H, Cui J, Ma Y, Tan J, Cao X, Yin C et al. Design and Implementation of Autonomous Navigation System Based on Tracked Mobile Robot. In Sun F, Cangelosi A, Zhang J, Yu Y, Liu H, Fang B, editors, Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. Springer Science and Business Media Deutschland GmbH. 2023. p. 329-350. (Communications in Computer and Information Science). doi: 10.1007/978-981-99-0617-8_23