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

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dc.contributor.author Weerasinghe, KKDKU
dc.contributor.author Silva, LCJ
dc.contributor.author Basnayake, BMSS
dc.contributor.author Sandanayaka, SDM
dc.contributor.author Kumarawadu, SP
dc.contributor.author Chandima, DP
dc.contributor.author Jayasekara, AGBP
dc.contributor.editor Rajapakse, A
dc.contributor.editor Prasad, WD
dc.date.accessioned 2022-04-04T06:09:31Z
dc.date.available 2022-04-04T06:09:31Z
dc.date.issued 2016-12
dc.identifier.citation Weerasinghe, 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/proceeding en_US
dc.identifier.uri http://dl.lib.uom.lk/handle/123/17567
dc.description.abstract This 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.language.iso en en_US
dc.publisher Institute of Electrical and Electronics Engineers, Inc. en_US
dc.relation.uri https://ieeexplore.ieee.org/xpl/conhome/7818135/proceeding en_US
dc.subject Autonomous navigation en_US
dc.subject Long distance navigation en_US
dc.subject SLAM en_US
dc.subject AMCL en_US
dc.subject Path planning en_US
dc.subject Dijkstra algorithm en_US
dc.subject DWA algorithm en_US
dc.subject ROS en_US
dc.title Mapping and path planning for long distance autonomous navigation using multisensory data en_US
dc.type Conference-Full-text en_US
dc.identifier.faculty Engineering en_US
dc.identifier.department Department of Electrical Engineering en_US
dc.identifier.year 2016 en_US
dc.identifier.conference 1st International Conference on Electrical Engineering 2016 en_US
dc.identifier.place Colombo en_US
dc.identifier.pgnos pp. 1-6 en_US
dc.identifier.proceeding Proceedings of 1st International Conference on Electrical Engineering 2016 en_US
dc.identifier.email udayanga.sonic3@gmail.com en_US
dc.identifier.email channajsilva@gmail.com en_US
dc.identifier.email basnayake.bmss@gmail.coM en_US
dc.identifier.email sdmadushan@gmail.com en_US
dc.identifier.email sisil@uom.lk en_US
dc.identifier.email chandima@uom.lk en_US
dc.identifier.email buddhikaj@uom.lk en_US


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