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

Weerasinghe, KKDKU; Silva, LCJ; Basnayake, BMSS; Sandanayaka, SDM; Kumarawadu, SP; Chandima, DP; Jayasekara, AGBP

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	[email protected]	en_US
dc.identifier.email	[email protected]	en_US
dc.identifier.email	[email protected]	en_US
dc.identifier.email	[email protected]	en_US
dc.identifier.email	[email protected]	en_US
dc.identifier.email	[email protected]	en_US
dc.identifier.email	[email protected]	en_US