Iraqi Journal for Computers and Informatics (Jun 2023)
IMPROVING MOVEMENT OF WHEELED GROUND ROBOTS ON SLOPES USING LIDAR TECHNOLOGY: MAPPING, PLANNING, AND OPTIMIZATION
Abstract
The development of wheeled ground robots has enabled them to be used for a variety of tasks. These robots must be able to move with accuracy and precision, especially when faced with obstacles or inclines. To improve the movement of these robots on a slope, lidar data can be used to detect the location and shape of obstacles. In recent years, Lidar technology has become an essential tool for various robotic applications. It has proven to be a game-changer in the field of autonomous navigation, especially in situations where robots have to operate in unknown environments. Lidar technology provides a high-resolution 3D map of the environment around the robot, enabling it to navigate autonomously while avoiding obstacles. In this paper, we discuss the use of Lidar technology in improving the movement of a wheeled ground robot on a slope. We describe the steps involved in obtaining Lidar data, processing the data to create a 3D map of the environment, and using the map to plan more efficient movement of the robot. We present an applied example of how Lidar data improves the movement of a ground robot with wheels on a slope, calculating the inclination of the ground, calculating the force required for the movement of the robot, creating three-dimensional models of the terrain to be navigated, creating plans for more efficient movement, and reducing damage and wear of the robot.
