Development of navigation system for TurtleBot 3 using SLAM method

Cheah Wern Xien, Joshua Bryan (2024) Development of navigation system for TurtleBot 3 using SLAM method. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

F1TENTH is a popular open-source platform among university students which organizes autonomous mobile robot competitions. The main navigation method used in F1TENTH competition is SLAM, also known as Simultaneous Localization And Mapping. SLAM, which is a technology developed for over 30 years, is an algorithm that builds a map of the surrounding environment of the robot through mapping process and at the same time estimating the robot’s position on the map while it is moving. Nowadays, SLAM is used in many applications such as autonomous vehicles and drones. TurtleBot 3 is an autonomous mobile robot which shares the same technology used in F1TENTH. This project focuses on developing a high-speed navigation system for TurtleBot 3 using the SLAM method in the Robot Operating System (ROS) framework. The main problem tackled is the development of a highspeed navigation system using SLAM, focusing on accurately mapping an indoor racetrack, selecting suitable path planning algorithms, and analyzing the system's performance in terms of speed and accuracy. The objective of this project is to implement SLAM algorithm in mapping and to develop the TurtleBot 3’s navigation system followed by analyzing its performance in terms of speed and accuracy. Experiments were conducted in the virtual environment, using the TurtleBot 3 Burger model in Gazebo and Rviz within the ROS framework to validate the map and analyze performance of the navigation system under various conditions. Overall, this project successfully develops the navigation system for the TurtleBot 3 and analyzes the performance parameters, establishing a foundation for future applications and enhancements.

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