Development of Mapping and Localization System for A Three Wheel Omniwheel Robot using Odometry and G-Mapping

DOI

10.2991/978-94-6463-982-7_23How to use a DOI?

Keywords

SLAM; G-Mapping; Odometry; Robot Operating System (ROS)

Abstract

Autonomous robots require accurate mapping and localization systems for successful navigation. However, odometry based localization suffers from cumulative errors that cause position drift over time, affecting navigation performance. This study addresses this issue by integrating odometry data with LiDAR-based SLAM using the G-mapping algorithm. The experimental setup utilized a three-wheeled omniwheel robot equipped with LiDAR sensors, with processing implemented through ROS framework for real-time sensor fusion. Testing was conducted in controlled indoor environments to evaluate system performance under various conditions. Experimental results demonstrate that integrating odometry with LiDAR-based SLAM significantly improves localization accuracy compared to standalone odometry systems. Position drift was substantially reduced throughout extended navigation sessions, maintaining consistent accuracy during long-duration operations. The mapping precision showed marked improvement, with the system generating detailed environmental representations using a three wheeled robot. The resulting 2D occupancy grid maps exhibited high fidelity to the actual test environment, accurately capturing spatial relationships and obstacle configurations. Real-time performance metrics confirmed efficient sensor data processing without compromising accuracy. The integrated approach maintained stable localization even in challenging scenarios with dynamic obstacles. Navigation reliability was enhanced through improved positional accuracy, enabling precise path planning and execution. The system demonstrated robust performance across multiple test scenarios, consistently producing reliable mapping data for autonomous navigation applications. The successful integration of odometry and LiDAR-based SLAM using G-mapping algorithm provides a reliable foundation for autonomous robot navigation systems.

Copyright

© 2025 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.

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TY  - CONF
AU  - Ryan Satria Wijaya
AU  - Rovio Thariq Alfalaah
AU  - Eko Rudiawan Jamzuri
AU  - Anugerah Wibisana
PY  - 2025
DA  - 2025/12/29
TI  - Development of Mapping and Localization System for A Three Wheel Omniwheel Robot using Odometry and G-Mapping
BT  - Proceedings of the  8th International Conference on Applied Engineering (ICAE 2025)
PB  - Atlantis Press
SP  - 375
EP  - 385
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-982-7_23
DO  - 10.2991/978-94-6463-982-7_23
ID  - Wijaya2025
ER  -