Mobile Robot Navigation Using ORB-SLAM3: A Multi-Modal Autonomous System
Indoor mobile robots require reliable solutions for mapping, localization, and navigation tasks. This paper presents a mobile robot system that implements the ability to realize mapping using visual SLAM with ORB-SLAM3 and LiDAR-based mapping with Gmapping for indoor perception and navigation through a modular ROS architecture. The framework also implements autonomous navigation and an autonomous Rapidly-exploring Random Trees (RRT) exploration module with adaptive reset mechanisms. The system operates on a ROS-based platform equipped with an Intel RealSense D435i RGB-D camera and LDS-02 LiDAR scanner. Experimental validation in simulated indoor environments demonstrates the system's capabilities and the presented architecture achieves computational efficiency through selective utilization of mapping modules while maintaining mapping accuracy through complementary sensor modalities.
Authors
- Ling Yuan (ORCID: https://orcid.org/0000-0002-0160-846X)
- Lianfang Tian (ORCID: https://orcid.org/0000-0003-4326-6821)
- Qiliang Du (ORCID: https://orcid.org/0000-0003-3437-3027)
- Ariano Da Conceicao
Institutions
- South China University of Technology (CN)
Publication Details
- Published
- 2025-01-10
- DOI
- https://doi.org/10.1109/iceaai64185.2025.10957165
- Primary Topic
- Robotic Path Planning Algorithms
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- National Natural Science Foundation of China
- National Key Research and Development Program of China