Research and Simulation of A Home Robot Navigation System Based on YOLO-SBA and ROS2

DOI

10.2991/978-94-6463-821-9_48How to use a DOI?

Keywords

Domestic Service Robots; YOLO-SBA; ROS2; COCO128 Dataset; Laser SLAM Mapping

Abstract

With the rapid advancement of smart homes and assistive care technologies, the application scope of domestic service robots in daily life has been continuously expanding. To ensure these robots can efficiently execute tasks and adapt to complex environments, their autonomous navigation capabilities have become a critical challenge. In home environments, robots must navigate dynamic obstacles, narrow passages, and variable environmental factors, which impose higher demands on their path planning and real-time decision-making abilities. To address these challenges, this study proposes an efficient navigation system for domestic service robots, integrating the YOLO-SBA object detection algorithm with the ROS2 robotic operating system. This research employs the ROS2 operating system for robot modeling and simulation, utilizing the COCO128 dataset for model training. Compared to the baseline YOLOv8n model, the YOLO-SBA model achieves a 2.1% increase in precision, a 10.2% improvement in recall, a 9.9% enhancement in mAP50, and a 9.3% boost in mAP50:95. The system’s effectiveness was validated through laser SLAM mapping experiments conducted on the Gazebo simulation platform. The results demonstrate that the proposed system can efficiently perform object detection and SLAM mapping tasks in complex home environments.

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  - Liang Zhou
PY  - 2025
DA  - 2025/08/31
TI  - Research and Simulation of A Home Robot Navigation System Based on YOLO-SBA and ROS2
BT  - Proceedings of the 2025 2nd International Conference on Mechanics, Electronics Engineering and Automation (ICMEEA 2025)
PB  - Atlantis Press
SP  - 466
EP  - 479
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-821-9_48
DO  - 10.2991/978-94-6463-821-9_48
ID  - Zhou2025
ER  -