Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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Construction of Simulation Environment for Line Tracer Using Gazebo In ROS

ROS에서 Gazebo를 이용한 라인 트레이서 시뮬레이션 환경 구축

  • 황보승 (호남대학교 미래자동차공학부)
  • Received : 2023.01.20
  • Accepted : 2023.03.14
  • Published : 2023.04.30
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Abstract

In this paper, we directly implemented the Line Tracer ROS package that can detect and follow lines drawn on the map on Gazebo, an open-source that is widely used in autonomous driving research. For line detection, the cv_bridge package was used to enable OpenCV's image processing tools, and parameters such as robot speed, line color and ground material could be changed. In addition, proportional (P) and PID controls could be implemented using the color centroid obtained through image processing. Through this approach, the effect of proportional and differential coefficients on the robot's line tracer motion could be analyzed effectively. In addition, by displaying robot simulation results using various tools of ROS, an efficient development for control nodes could be established in ROS.

Keywords

References

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