Proceedings of the International Conference on Advanced Design, Manufacturing, and Sustainable Energy Systems (ICADMSES 2026)

International Conference on Advanced Design, Manufacturing, and Sustainable Energy Systems (ICADMSES 2026)

📍Gorakhpur, India🗓️ 12-13 March 2026
<Previous Article In Volume
Next Article In Volume>

ROS-Based Autonomous Navigation of an Ackermann Steer Robot Using LiDAR

Authors
Syed Rummaan Aziz1, *, Anuj Kumar Sharma1, Saleem Anwar Khan2, Siddharth Yadav1, Md Shadan Zafar2
1Centre For Advanced Studies, Dr APJ Abdul Kalam Technical University, Lucknow, 226031, Uttar Pradesh, India
2Department of Mechanical Engineering, Aligarh Muslim University, Aligarh, 202002, Uttar Pradesh, India
*Corresponding author. Email: syedrummaanaziz@gmail.com
Corresponding Author
Syed Rummaan Aziz
Available Online 31 August 2026.
DOI
10.2991/978-94-6239-750-7_14How to use a DOI?
Keywords
Autonomous Vehicles; LiDAR; SLAM; CARLA Simulator; ROS Noetic; LeGO-LOAM; Path Planning
Abstract

In this paper, a LiDAR-based SLAM system for autonomous vehicle navigation in CARLA using ROS Noetic is presented. An Ackermann steer vehicle with 3D LiDAR and wheel odometry mounted on vehicle simulated in CARLA environment. The LeGO-LOAM-BOR algorithm is used to combine LiDAR and odometry data sources to generate a three-dimensional map of the environment and continuously estimate the vehicle’s pose during motion. When the vehicle is localised in the map then the global planning module takes vehicle position as start location and generates a way point to goal location. A local planning module further processes this way point to produce smooth, feasible and obstacles avoidable trajectories in the driving environment. A Stanley controller and PID calculates the steering angle and speed for the desired path and real time obstacle avoidance. Then ll controller is used to convert all these commands into throttle, brake and steering inputs for the simulated vehicle. CARLA based simulations validated the system’s performance across the driving scenarios. The result shows stable mapping, following way points, consistent localization accuracy, obstacle avoidance and reliable autonomous navigation performance.

Copyright
© 2026 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Download article (PDF)

<Previous Article In Volume
Next Article In Volume>
Volume Title
Proceedings of the International Conference on Advanced Design, Manufacturing, and Sustainable Energy Systems (ICADMSES 2026)
Series
Atlantis Highlights in Engineering
Publication Date
31 August 2026
ISBN
978-94-6239-750-7
ISSN
2589-4943
DOI
10.2991/978-94-6239-750-7_14How to use a DOI?
Copyright
© 2026 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - Syed Rummaan Aziz
AU  - Anuj Kumar Sharma
AU  - Saleem Anwar Khan
AU  - Siddharth Yadav
AU  - Md Shadan Zafar
PY  - 2026
DA  - 2026/08/31
TI  - ROS-Based Autonomous Navigation of an Ackermann Steer Robot Using LiDAR
BT  - Proceedings of the International Conference on Advanced Design, Manufacturing, and Sustainable Energy Systems (ICADMSES 2026)
PB  - Atlantis Press
SP  - 185
EP  - 200
SN  - 2589-4943
UR  - https://doi.org/10.2991/978-94-6239-750-7_14
DO  - 10.2991/978-94-6239-750-7_14
ID  - Aziz2026
ER  -