TY  - JOUR
TI  - Simulation of Lidar-Based Robot Detection Task using ROS and Gazebo
AB  - In the last few decades, the robotics world has seen great progress at all levels, from personal assistant robots to multi-robotic andintelligent swarm systems. Simulation platforms play a critical role in this improvement due to efficiency, flexibility, and faulttolerance they provide during the cycles of developing and testing new strategies and algorithms. In this paper, we model a newmobile robot equipped with a 2D Lidar using Robot Operating System (ROS) and use this robot model to develop a robot detectionmethod in Gazebo simulation environment. Detecting surrounding objects and distinguishing robots from these objects (kin detection)are essential in multi-robot and swarm robotic applications. In this paper, we use Lidar to handle this task by applying the followingsteps: (1) acquisition of laser data and pre-processing, (2) segmentation of data using the point-distance-based segmentation method,(3) classification of segments by applying two levels of filtering: filtering by segment diameter which aims to eliminate segments thatdon’t fit a certain size (Lidar size) using features for each segment, filtering by segment shape to check remaining segments to test ifthey fit the Lidar's shape (which is a circle with known radius) or not by using the circle fitting method and (4) identify the position ofkin relative to the observer robot. Two different scenarios are discussed in the experiments section. In the first scenario, manycylindrical objects with radius different from the robot’s Lidar were used in addition to a robot, and thus objects are distinguishedfrom the robot in the first level of filtering without using the second one which may be a complex operation. In the second scenario,various objects with a similar radius were used, and due to the similarity in the radius between the Lidar and the objects, it wasnecessary to apply all the method’s steps to detect the kin robots. It was noticed from experiments that the accuracy of the resultsdepends on two main factors: the distance between the observer robot and other objects or robots and the amount of noise in the Lidarmeasurements.
AU  - BAYINDIR, LEVENT
AU  - Yılmaz, Zahir
DO  - 10.31590/ejosat.642840)
PY  - 2019
JO  - Avrupa Bilim ve Teknoloji Dergisi
VL  - 0
IS  - 0
SN  - 2148-2683
SP  - 513
EP  - 529
DB  - TRDizin
UR  - http://search/yayin/detay/358508
ER  -