ABSTRACT
The path planning of a mobile robot in this paper is a result of a recent work based on
previous use of LIDAR sensors. Lidar sensors have been in use for many years now in
various fields for numerous purposes. Path planning, environment mapping, obstacle
avoidance, weather mapping, terrain mapping and etc. have been the major
application of a Lidar sensor.
The work in this thesis consists of the use of RPLIDAR A1 sensor from Robo Peak for
the development of the algorithm for environment mapping, localization and
trajectory planning with obstacle avoidance in indoor environment.
At first it is about learning the limitations and calibrating the sensor for optimal use in
closed environment. This is followed by the development of algorithm for mapping the
said environment. Then the second stage of development requires us to develop
algorithm for trajectory planning and localization or SLAM.
The central part of the work consists of the development of efficient and productive
algorithm for mapping and path planning in a simulated environment.
Finally it produces the possibility of reading of the local environment and trajectory
planning in closed environment. This information can be useful in developing in-house
robots for service industry that can be used in restaurants, offices and house and be a
part of our daily lives while making them easier and more productive. Use of 3D
sensors and cameras can vastly improve the performance and usability of the mobile
robot.
