Adecuación de LiDAR en ARMOS TurtleBot y desarrollo de tarea de localización y mapeo simultáneo SLAM con ROS

Abstract

This internship report presents the development and implementation of a Simultaneous Localization and Mapping (SLAM) system using LiDAR technology on the ARMOS TurtleBot 1 robotic platform, integrated with the Robot Operating System (ROS). The main objective was to improve the robot’s capabilities for autonomous navigation and mapping in indoor environments. The project included hardware modifications, such as the integration of a LiDAR sensor and the reorganization of the robot’s internal circuitry, as well as software development, including the installation of ROS Noetic, node configuration, and the implementation of SLAM algorithms using packages such as Gmapping. The system was tested in various environments, such as a terrace and a hallway, demonstrating its ability to generate accurate maps under different lighting and surface conditions. The results confirmed the robot’s improved performance in localization and mapping tasks, laying the foundation for future research in areas such as digital twins, industrial automation, and assistive robotics. The project concluded with the publication of a scientific article reviewing the state of the art in SLAM technologies using LiDAR and ROS.