Human-Robot Interaction Using ROS Framework for Indoor Mapping Missions

The necessity of effective integration tools in robotics research play an important scientific contribution and highly recommended. However, robotics researchers have limited time during the experiments with definite targets and ultimately there is no choice but to use integration tools as softwar...

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Main Authors:	M.S., Hendriyawan Achmad, Mohd Razali, Daud, Saifudin, Razali, Pebrianti, Dwi
Format:	Conference or Workshop Item
Language:	English
Published:	Universiti Malaysia Pahang 2016
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/15852/ http://umpir.ump.edu.my/id/eprint/15852/ http://umpir.ump.edu.my/id/eprint/15852/1/P046%20pg330-337.pdf

id	ump-15852
recordtype	eprints
spelling	ump-158522017-11-16T01:27:56Z http://umpir.ump.edu.my/id/eprint/15852/ Human-Robot Interaction Using ROS Framework for Indoor Mapping Missions M.S., Hendriyawan Achmad Mohd Razali, Daud Saifudin, Razali Pebrianti, Dwi TK Electrical engineering. Electronics Nuclear engineering The necessity of effective integration tools in robotics research play an important scientific contribution and highly recommended. However, robotics researchers have limited time during the experiments with definite targets and ultimately there is no choice but to use integration tools as software framework to avoid re-inventing the wheels. This research examines how humans work with teleoperated unmanned mobile robots to perform interaction in order to explore and build an indoor map by utilizing robotic software framework known as Robot Operating System (ROS). ROS infrastructure tools are involving together from the file system level to the community level,enables independent decisions about development and implementation. These experiments focus on two major area; the way human delivers the targets coordinate to the robot using ROS framework, and the way robot conducts SLAM as a feedback to the human related to current location and occupied map within ROS platform. Hector SLAM plays an important role in 2D localization using 2D LIDAR sensor which is needed by Octomap in order to construct 3D mapping simultaneously using Kinect sensor. The results showed that human-robot interaction using the ROS-based teleoperated system for mapping task is easy to configure and propose an effective tool in term of large-scale service robot development. Universiti Malaysia Pahang 2016 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/15852/1/P046%20pg330-337.pdf M.S., Hendriyawan Achmad and Mohd Razali, Daud and Saifudin, Razali and Pebrianti, Dwi (2016) Human-Robot Interaction Using ROS Framework for Indoor Mapping Missions. In: Proceedings of The National Conference for Postgraduate Research (NCON-PGR 2016), 24-25 September 2016 , Universiti Malaysia Pahang (UMP), Pekan, Pahang. pp. 330-337.. http://ee.ump.edu.my/ncon/wp-content/uploads/2016/10/Proceeding-NCON-PGR-2016.zip
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering M.S., Hendriyawan Achmad Mohd Razali, Daud Saifudin, Razali Pebrianti, Dwi Human-Robot Interaction Using ROS Framework for Indoor Mapping Missions
description	The necessity of effective integration tools in robotics research play an important scientific contribution and highly recommended. However, robotics researchers have limited time during the experiments with definite targets and ultimately there is no choice but to use integration tools as software framework to avoid re-inventing the wheels. This research examines how humans work with teleoperated unmanned mobile robots to perform interaction in order to explore and build an indoor map by utilizing robotic software framework known as Robot Operating System (ROS). ROS infrastructure tools are involving together from the file system level to the community level,enables independent decisions about development and implementation. These experiments focus on two major area; the way human delivers the targets coordinate to the robot using ROS framework, and the way robot conducts SLAM as a feedback to the human related to current location and occupied map within ROS platform. Hector SLAM plays an important role in 2D localization using 2D LIDAR sensor which is needed by Octomap in order to construct 3D mapping simultaneously using Kinect sensor. The results showed that human-robot interaction using the ROS-based teleoperated system for mapping task is easy to configure and propose an effective tool in term of large-scale service robot development.
format	Conference or Workshop Item
author	M.S., Hendriyawan Achmad Mohd Razali, Daud Saifudin, Razali Pebrianti, Dwi
author_facet	M.S., Hendriyawan Achmad Mohd Razali, Daud Saifudin, Razali Pebrianti, Dwi
author_sort	M.S., Hendriyawan Achmad
title	Human-Robot Interaction Using ROS Framework for Indoor Mapping Missions
title_short	Human-Robot Interaction Using ROS Framework for Indoor Mapping Missions
title_full	Human-Robot Interaction Using ROS Framework for Indoor Mapping Missions
title_fullStr	Human-Robot Interaction Using ROS Framework for Indoor Mapping Missions
title_full_unstemmed	Human-Robot Interaction Using ROS Framework for Indoor Mapping Missions
title_sort	human-robot interaction using ros framework for indoor mapping missions
publisher	Universiti Malaysia Pahang
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/15852/ http://umpir.ump.edu.my/id/eprint/15852/ http://umpir.ump.edu.my/id/eprint/15852/1/P046%20pg330-337.pdf
first_indexed	2023-09-18T22:20:59Z
last_indexed	2023-09-18T22:20:59Z
_version_	1777415654266109952

Human-Robot Interaction Using ROS Framework for Indoor Mapping Missions

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