IMPLEMENTATION OF SLAM CARTOGRAPHER AND ANALYSIS OF THE EFFECT OF LIDAR MOVEMENT SPEED ON THE QUALITY OF 2D ENVIRONMENTAL MAPPING

• Main Author: Christian, James
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/83626
• Institution: Institut Teknologi Bandung

This research aims to implement the Simultaneous Localization and Mapping (SLAM) algorithm using Cartographer on a ROS2 system integrated with LiDAR and to analyze the effect of LiDAR movement speed on the quality of the resulting 2D environmental mapping. SLAM is a technology that allows robots to map their surroundings while simultaneously tracking their positions. It is essential for the development of environmental mapping technology, autonomous navigation, and other robotic applications. SLAM implementation provides real-time environmental mapping capabilities with high accuracy and efficiency. In this study, the SICK NAV310 LiDAR is used due to its ability to accurately measure distances with a range of 0.5 to 250 meters and an optimal measurement frequency of 8 Hz. This LiDAR produces high-resolution data required for precise mapping. The research was conducted at night on the first-floor corridor of the Labtek VI building at Institut Teknologi Bandung (ITB) Ganesha using a pushcart as the LiDAR mobilization medium at various movement speeds. The analysis results showed that the optimal speed for high-accuracy mapping ranges from 3.1 km/h to 3.5 km/h. At speeds above 3.5 km/h, there is a significant decrease in map accuracy, with the RMSE increasing sharply and the standard deviation showing greater variations in mapping errors. The conclusion of this study is that the optimal LiDAR movement speed for producing high-quality maps is within the range of 3.1 km/h to 3.5 km/h. Keywords: SLAM, Cartographer, LiDAR, Movement Speed, Accuracy, Environmental Mapping