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All Journal Jurnal Teknik ITS Bulletin of Electrical Engineering and Informatics Jurnal Ilmiah Kursor Program Kreativitas Mahasiswa - Teknologi JAVA Journal of Electrical and Electronics Engineering JAREE (Journal on Advanced Research in Electrical Engineering) Jurnal Nasional Teknik Elektro dan Teknologi Informasi Sewagati
Rudy Dikairono
Departemen Teknik Elektro, Fakultas Teknologi Elektro Dan Informatika Cerdas, Institut Teknologi Sepuluh Nopember
Arts Humanities Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Education Electrical & Electronics Engineering Energy Engineering Languange, Linguistic, Communication & Media Public Health Social Sciences Other

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Journal : Bulletin of Electrical Engineering and Informatics

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Design of mapping system for domestic service robot using light detection and ranging Attamimi, Muhammad; Gunawan, Felix; Purwanto, Djoko; Dikairono, Rudy; Irfansyah, Astria Nur
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 Aditya Rifa Utama Adrie Sentosa Ardiansyah A. Attamimi, Muhammad Bardo Wenang Budiman, Fajar Devy Kuswidiastuti Dion Hayu Fandiantoro Djoko Purwanto Felix Gunawan Harris Pirngadi Hendra Antomi Hendra Kusuma Hendra Kusuma Henny Utami Irfan Fachrudin Priyanta Irfansyah, Astria Nur Kurniawan, Arief Muhammad Alfiansyah Muhammad Attamimi Muhammad Fasih Mubarrok Muhammad Januar Fathoni Muhammad Rivai Muhammad Rivai Muharom, Syahri Parama, Armand Dvi Prajna, Arnold Pujiono Pujiono Reza Barkah Harjunadi Riza Agung Ronny Mardiyanto, Ronny Ruth Johana Hutagalung Samhan, Dzulfikar Ahmad Setiawardhana Setiawardhana Setiawardhana Totok Mujiono, Totok Tri Arief Sardjono Yulianto, Lucas Yunardi, Riky Tri