Algorithms for the movement of a mobile robot with real-time terrain mapping

Abstract

This article describes the implementation of a navigation software package for a mobile robot, including terrain mapping and subsequent analysis. A software module for the mobile robot was developed using a laser rangefinder (lidar). A Raspberry Pi 3B+ microcomputer running the ROS robotics operating system is used to obtain lidar data. An algorithm for the mobile robotic system's spatial movement, with real-time terrain mapping, is described. Such systems are currently widely used and can significantly reduce the need for human intervention in difficult and dangerous work.