A Designed Multi-Sensor System for SLAM on Multiple Robots

Student Author(s)

Xavier Wu

Faculty Mentor(s)

Dr. Miguel Abrahantes

Document Type


Event Date



A research group at Hope College is designing a multi-ultrasonic-sensor system for the open source robot Kobuki Turtlebot. The operating system used in this research project, Robot Operating System (ROS), is also an open source project initially released in 2007. This system has higher accuracy, reduced response time and lower cost compared to traditional laser sensors. It consists of 8 HY-SRF05 rangers that can work sequentially on an embedded system such as a Raspberry Pi. The communication between the embedded system and the robot is achieved with a Python package designed to communicate locally via Transmission Control Protocol/Internet Protocol (TCP/IP). By making the HY-SRF05 rangers work successively, the response time needs to be reduced as much as possible to minimize the errors in the localization process. This structure can also be applied to our multi-agent system, composed of 3 robots of the same model. By implementing this improved design on a multi-agent system, the Simultaneous Localization and Mapping (SLAM) process can be conducted more efficiently and accurately. However, the development of ROS for multi-agent systems is still in a very early stage, which is a challenge for our project.


This research was supported by the Department of Engineering at Hope College.

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