Evaluating OMNI Robot Navigation with SLAM in CoppeliaSim: Hemangiomas and Nonhomogeneous Paths

Journal: Journal of Robotics Research (JRR), Volume:1, Issue:1, Pages: 7-14 Download pdf

Authors: Ata Jahangir Moshayedi, Yibin Xie, Maryam Sharifdoust, Amir Sohail Khan

Date: 7-2024

Abstract: This study aims to enhance the accuracy and efficiency of Omni robots in navigation, reducing errors and resource use to improve safety and task completion in various applications. Utilizing CoppeliaSim (Vrep) for simulation, the research focuses on the Omni robot's performance over homogeneous and non-homogeneous paths using SLAM. Key parameters such as running time, average velocity, body change, and error are analyzed with statistical methods to ensure robust findings. Results show a direct relationship between speed and tracking error, highlighting the need for optimized speed management. The study provides insights into the robot's performance under different conditions, offering valuable data for further optimization. This research contributes to the development of safer, more reliable robotic systems with applications in industrial automation, healthcare, and service robotics. Virtual prototyping reduces development costs and risks, promoting the adoption of advanced robotic technologies and enhancing productivity and safety in various fields.

 Keywords: OMNI robot platform, CoppeliaSim, Vrep, Simultaneous Localization and Mapping, SLAM, Levene's Test , Independent samples t-test

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