COMPARACIÓN DE ALGORITMOS PARA SLAM SOBRE UN ROBOT MÓVIL SANITIZADOR EN ENTORNOS CONTROLADOS (COMPARISON OF SLAM ALGORITHMS ON A MOBILE SANITIZING ROBOT IN CONTROLLED ENVIRONMENTS)
Resumen
Este estudio presenta la evaluación comparativa de cuatro algoritmos SLAM 2D (Gmapping, Karto, Cartographer y Hector SLAM) en un robot omnidireccional de cuatro ruedas basado en ROS. La implementación experimental incluyó pruebas sistemáticas en entornos controlados utilizando sensores del tipo LiDAR, IMU y encoders en los motores de las ruedas en entornos controlados. Los resultados mostraron diferencias significativas, lo que permitió realizar una evaluación en base a la precisión de localización, rendimiento computacional, robustez ante oclusiones, y en corrección de bucles. En los resultados se presentan las variaciones de los errores de mapeo según el algoritmo y condiciones del entorno. Este trabajo establece las bases para el desarrollo futuro de un sistema de sanitización autónoma mediante luz UV, donde la precisión en navegación resulta crítica. Las conclusiones proporcionan recomendaciones específicas para la selección de algoritmos SLAM según requisitos de distintas aplicaciones en navegación autónoma.
Palabras Clave: Navegación autónoma, robot omnidireccional, ROS, SLAM 2D, sanitización UV.
Abstract
This study presents the comparative evaluation of four 2D SLAM algorithms (Gmapping, Karto, Cartographer, and Hector SLAM) on a ROS-based four-wheeled omnidirectional robot. The experimental implementation included systematic testing in controlled environments using LiDAR sensors, IMUs, and encoders on the wheel motors. The results showed significant differences, allowing for an evaluation based on localization accuracy, computational performance, robustness to occlusions, and loop correction. The results present the variations in mapping errors depending on the algorithm and environmental conditions. This work lays the groundwork for the future development of an autonomous UV sanitization system, where navigation accuracy is critical. The conclusions provide specific recommendations for the selection of SLAM algorithms according to the requirements of different autonomous navigation applications.
Keywords: 2D SLAM, autonomous navigation, omnidirectional robot, ROS, UV sanitization.
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