Research Article
Obstacle Avoidance System Using LiDAR on Robot Turtlebot3 Burger
@INPROCEEDINGS{10.4108/eai.5-10-2022.2327479, author={Hendawan Soebhakti and Rahel Yulianti and Faiz Albar Risi and Yeni Riska Pratiwi}, title={Obstacle Avoidance System Using LiDAR on Robot Turtlebot3 Burger}, proceedings={Proceedings of the 5th International Conference on Applied Engineering, ICAE 2022, 5 October 2022, Batam, Indonesia}, publisher={EAI}, proceedings_a={ICAE}, year={2023}, month={6}, keywords={lidar turtlebot obstacle avoidance}, doi={10.4108/eai.5-10-2022.2327479} }- Hendawan Soebhakti
Rahel Yulianti
Faiz Albar Risi
Yeni Riska Pratiwi
Year: 2023
Obstacle Avoidance System Using LiDAR on Robot Turtlebot3 Burger
ICAE
EAI
DOI: 10.4108/eai.5-10-2022.2327479
Abstract
The Burger Robot Turtlebot3 series is a standard platform from Robotics Corporation's ROS, which is used as a learning medium and as a prototype in a robot delivery project. The Turtlebot3 Burger robot is used as a learning medium in the application of the goods delivery robot system. In this research, a Turtlebot Robot which can be controlled manually and automatically, was developed. Automatic controllers can work based on the location of the coordinate points that have been determined. The Turtlebot's automatic controller also features an obstacle avoidance system. The obstacle avoidance system is one of the behaviors that bring the Turtlebot to move freely without collision. The sensor used for this system is Light Detection and Ranging (LiDAR). LiDAR is a long-range technology that uses the property of scattered light to find the distance and information of an object from the intended target. LiDAR used is 360 Laser Distance Sensor LDS-01. LiDAR will be processed on Raspberry then LiDAR data will be included in the obstacle avoidance method so that the success rate will be higher. This research resulted in the success rate of the obstacle avoidance system. It is hoped that this obstacle avoidance system will help the Turtlebot avoid a collision with an object when it goes to a predetermined waypoint position.