Auto Parking System with LiDAR and Reflective Tape for Turtlebot3 Burger Robot

Abstract

The Turtlebot3 Burger Robot is a standard platform of ROS Robotic cooperation, which is used as a learning media and as a prototype in a delivery robot project. This robot has been modified with the addition of the LiDAR sensor for obstacle avoidance and auto parking, as well as the addition of an indoor GPS component for robot localization and navigation. This prototype will be used as an item shipper from the store to a certain product line in a company. In this research, autonomous navigation is made so that the robot can move according to the robot's point and mission by utilizing Indoor GPS. So that the robot can move properly without interference from the obstacle, an obstacle avoidance system is made by utilizing the LiDAR sensor, which will detect the obstacle and then make a decision to avoid the obstacle. After the robot completes its mission, the robot can return to the home base position autonomously using reflective tape as a reference. This research has found one way how the mobile robot can find out and move to its home position by using reflective tape as a reference, with the method and specifications of the sensor used, the farthest distance that can be detected is 1.6 meters.