@inproceedings{65cbe6d0b696475dab6543748756b880,
title = "Design and Implementation of Autonomous Navigation System Based on Tracked Mobile Robot",
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",
year = "2023",
doi = "10.1007/978-981-99-0617-8_23",
language = "English",
isbn = "9789819906161",
series = "Communications in Computer and Information Science",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "329--350",
editor = "Fuchun Sun and Angelo Cangelosi and Jianwei Zhang and Yuanlong Yu and Huaping Liu and Bin Fang",
booktitle = "Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers",
address = "Germany",
}