ROS based SLAM implementation for Autonomous navigation using Turtlebot

Abstract

This paper presents the autonomous navigation of a robot using SLAM algorithm.The proposed work uses Robot Operating system as a framework.The robot is simulated in gazebo and Rviz used for data visualization.Gmapping package is used for mapping by utilizing laser and odometry data from various sensors.The Turtlebot provides open source software to perform navigation.

Keywords

• robot operating system (ros)
• simultaneous localization and mapping (slam)
• adaptive monte carlo localization (amcl) kinect
• rviz
• gazebo
• gmapping
• turtlebot
• urdf
• odometry