Mapping and path planning for long distance autonomous navigation using multisensory data

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dc.contributor.authorWeerasinghe, KKDKU
dc.contributor.authorSilva, LCJ
dc.contributor.authorBasnayake, BMSS
dc.contributor.authorSandanayaka, SDM
dc.contributor.authorKumarawadu, SP
dc.contributor.authorChandima, DP
dc.contributor.authorJayasekara, AGBP
dc.contributor.editorRajapakse, A
dc.contributor.editorPrasad, WD
dc.date.accessioned2022-04-04T06:09:31Z
dc.date.available2022-04-04T06:09:31Z
dc.date.issued2016-12
dc.description.abstractThis paper presents a methodology and a concept behind the autonomous navigation which can be used in field robots. Long distance navigation in an outdoor environment is a challenging task owing to floor profile variations and slipping problem. The concept is based on SLAM (Simultaneous Localization and Mapping) GMapping algorithm with particle filter approach in mapping process and AMCL (Adaptive Monte Carlo Localization) in navigation process. Experimental results are presented in this paper with the implementation of mobile robot platform using ROS (Robot Operating System). Further, reasons for the errors and methodology to overcome the problems are proposed.en_US
dc.identifier.citationWeerasinghe, K.K.D.K.U., Silva, L.C.J., Basnayake, B.M.S.S., Sandanayaka, S.D.M., Kumarawadu, S.P., Chandima, D.P., & Jayasekara, A.G.B.P. (2016). Mapping and path planning for long distance autonomous navigation using multisensory data. In W.D. Prasad & A. Rajapakse (Eds.), Proceedings of 1st International Conference on Electrical Engineering 2016 (pp.1-6). Institute of Electrical and Electronics Engineers, Inc. https://ieeexplore.ieee.org/xpl/conhome/7818135/proceedingen_US
dc.identifier.conference1st International Conference on Electrical Engineering 2016en_US
dc.identifier.departmentDepartment of Electrical Engineeringen_US
dc.identifier.emailudayanga.sonic3@gmail.comen_US
dc.identifier.emailchannajsilva@gmail.comen_US
dc.identifier.emailbasnayake.bmss@gmail.coMen_US
dc.identifier.emailsdmadushan@gmail.comen_US
dc.identifier.emailsisil@uom.lken_US
dc.identifier.emailchandima@uom.lken_US
dc.identifier.emailbuddhikaj@uom.lken_US
dc.identifier.facultyEngineeringen_US
dc.identifier.pgnospp. 1-6en_US
dc.identifier.placeColomboen_US
dc.identifier.proceedingProceedings of 1st International Conference on Electrical Engineering 2016en_US
dc.identifier.urihttp://dl.lib.uom.lk/handle/123/17567
dc.identifier.year2016en_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers, Inc.en_US
dc.relation.urihttps://ieeexplore.ieee.org/xpl/conhome/7818135/proceedingen_US
dc.subjectAutonomous navigationen_US
dc.subjectLong distance navigationen_US
dc.subjectSLAMen_US
dc.subjectAMCLen_US
dc.subjectPath planningen_US
dc.subjectDijkstra algorithmen_US
dc.subjectDWA algorithmen_US
dc.subjectROSen_US
dc.titleMapping and path planning for long distance autonomous navigation using multisensory dataen_US
dc.typeConference-Full-texten_US

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