Title: Autonomous Mobile Robot Navigation in Structured Rough Terrain

Abstract: Main study areas for robotics research can be given as: mapping, localization, navigation and exploration. Given a robot’s current position, partial map of the environment and a goal position; navigation problem can be defined as optimal path planning and path following. Path planning and path following problem should be handled according to environment being static or dynamic, robot's mobility capabilities, sensors used on the robot and the roughness of the environment. In the study a four wheeled, skid-steering robot with laser range finder and depth sensor is built for Gazebo simulation environment. Also a statically structured labyrinth that consists of 15 degree continuous ramps, 15 degree discontinuous ramps, amorphous holes that robot cannot autonomously escape from if fallen into, walls and discontinuous obstacles that are below the robot laser height. 2D simultaneous localization and mapping, 3D mapping, path planning and path following with respect to the 3D map are implemented on Robot Operating System (ROS). Optimal path planning in rough terrain is accomplished by combining A* heuristic with a function of height difference of the 3D map nodes. Path following is carried out by turning-to and moving-towards actions on each sequential path node pairs. Tests performed on the labyrinth shows that obstacle avoidance, path planning and path following can be carried out successfully with the given implementation.

Keywords: Autonomous mobile robot; navigation; rough terrain; 3D mapping; A*; ROS; Gazebo

Başlık: Tasarlanmış Engebeli Ortamda Otonom Mobil Robot Gezinimi

Özet: Robotik çalışmalarında temel problemler: haritalama, konum belirleme, gezinim ve keşif olarak verilebilir. Gezinim problemi, robot konumu, ortama ilişkin kısmi harita ve hedef nokta biliniyorken bu hedef noktaya en iyi yolun çizilmesi ve bu yolun takip edilmesi problemidir. Yol bulma ve yol takibi problemleri; ortamın statik veya dinamik olması, mobil robotun hareket kabiliyeti, mobil robot üzerinde kullanılan sensörlerin özellikleri ve ortamdaki engebelerin özellikleri açısından farklı kapsamlarda değerlendirilebilir. Çalışmada Gazebo simülasyon ortamında, oluşturulmuş 4 tekerli, kızaklı yönlendirme sürüşlü robot ile lazer mesafe sensörü ve derinlik sensörü kullanılmıştır. Yine Gazebo simülasyon ortamında tasarlanmış statik labirent; 15 derece sürekli rampalar, 15 derecelik süreksiz rampalar, robotun fiziki olarak aşamayacağı çukurlar, duvarlar ve robot lazer hizasının altında kalan süreksiz engeller içermektedir. Çalışma kapsamında 2B eşanlı konum belirleme ve haritalama, 3B haritalama, 3B haritaya göre yol bulma ve yol takibi Robot İşletim Sistemi (ROS) kullanılarak gerçeklenmiştir. A* algoritmasında sezgisel terime, elde edilen 3B haritada düğümler arası yükseklik farkının bir fonksiyonunun katılması ile engebeli ortamda hedefe en iyi yolun çizdirilmesi sağlanmıştır. Çizdirilen yolun takip edilmesinde ise yolu oluşturan her ardışık iki düğüm arasında önce robotun ara hedefe yönelmesi sonrasında ise ara hedefe ilerlemesi sağlanmıştır. Labirent ortamında yapılan testlerde geliştirilen yaklaşımın engel kaçınımı, yol bulma ve yol takibinde başarılı sonuçlar verdiği görülmüştür.

Anahtar kelimeler: Otonom mobil robot; gezinim; engebeli ortam; 3B haritalama; A*; ROS; Gazebo

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