Simulation of Indoor Localization and Navigation of Turtlebot 3 using Real Time Object Detection
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Date
2021
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers Inc.
Abstract
This paper proposes a method for indoor localization and navigation of Turtlebot 3 using Real Time Object Detection (RTOD). The robot is capable of recognizing the room it is placed inside based on the knowledge of positions of certain fixed arbitrary objects. The robot then proceeds to understand its position inside the room and is capable of moving to other locations. The robot is simulated using the ROS and Gazebo framework. The RTOD is trained to identify certain distinct objects like a rover, bowl, quadcopter and wheel based on which the robot is able to ascertain its location. © 2021 IEEE.
Description
Keywords
Localization, Navigation, Real Time Object Detection (RTOD), Robot Operating System (ROS), SLAM, Turtlebot 3
Citation
Proceedings of IEEE International Conference on Disruptive Technologies for Multi-Disciplinary Research and Applications, CENTCON 2021, 2021, Vol., , p. 222-227