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All Journal Jurnal Teknik ITS TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics JUTI: Jurnal Ilmiah Teknologi Informasi JAREE (Journal on Advanced Research in Electrical Engineering)
Astria Nur Irfansyah
Departemen Teknik Elektro Institut Teknologi Sepuluh Nopember Surabaya
Computer Science & IT Control & Systems Engineering Dentistry Education Electrical & Electronics Engineering Engineering Library & Information Science

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Design of mapping system for domestic service robot using light detection and ranging Muhammad Attamimi; Felix Gunawan; Djoko Purwanto; Rudy Dikairono; Astria Nur Irfansyah
Bulletin of Electrical Engineering and Informatics Vol 13, No 6: December 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v13i6.8007

Abstract

Service robots are becoming increasingly essential in offices or domestic environments, usually called domestic service robots (DSR). They must navigate and interact seamlessly with their surroundings, including humans and objects, which relies on effective mapping and localization. This study focuses on mapping, employing the light detection and ranging (LiDAR) sensor. The sensor, tested at proximity, gathers distance data to generate two-dimensional maps on a mini-PC. Additionally, it provides rotational positioning and robot odometry, broadening coverage through robot movement. A microcontroller with wireless smartphone connectivity facilitates control via Bluetooth. The robot is also equipped with ultrasonic sensors serving as a bumper. Testing in rooms of varying sizes using three methods (i.e., Hector simultaneous localization and mapping (SLAM), Google Cartographer, and real-time appearance-based mapping (RTAB-Map)) yielded good quality maps. The best F1-measure value was 96.88% achieved by Google Cartographer. All the results demonstrated the feasibility of this approach for DSR development across diverse applications.
Co-Authors Aldy Helnawan Ari Hidayanto Dedy Permana Djoko Purwanto Endroyono, E Felix Gunawan Harris Pirngadi I Nyoman Rio Indrajaya Kelvin Liusiani Kusuma, Hendra Siswanto Mannarul Hidayah Mufid Naufal Baay Muh. Anas Faishol Muhammad Attamimi Muhammad Rivai Ronny Mardiyanto, Ronny Rudy Dikairono Trulien Jeremiah Elmer