GenNav: A Generic Indoor Navigation System for any Mobile Robot
Sudarshan S Harithas, Biswajit Pardia
TL;DR
GenNav is a versatile indoor navigation system that integrates SLAM and path planning, using LiDAR-based odometry to adapt to various mobile robots without dedicated sensors.
Contribution
It introduces a modular, hardware-agnostic navigation system that relies on LiDAR odometry, enabling broad applicability across different robot types.
Findings
Successfully implemented on multiple robot platforms
Eliminates need for dedicated odometry sensors
Demonstrates effective indoor navigation in simulation and hardware
Abstract
The navigation system is at the heart of any mobile robot it comprises of SLAM and path planning units, which is utilized by the robot to generate a map of the environment, localize itself within it and determine an optimal a path to the destination. This paper describes the conceptualization, development, simulation and hardware implementation of GenNav a generic indoor navigation system for any mobile aerial or ground robot. The generalization is brought about by modularizing and creating independence between the software computation and hardware actuation units by providing an alternate source of odometry from the LiDAR eliminating the requirement for dedicated odometry sensors. The odometry feedback from the LiDAR can be used by the navigation computation unit and the system can be generalized to a wide variety of robots, with different type and orientation of actuators
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Taxonomy
TopicsRobotics and Sensor-Based Localization · Robotic Path Planning Algorithms · Robotics and Automated Systems