Semi Autonomous Mobile Robot for Inspection Missions

This paper shows the results of a semi autonomous mobile robot tested in inspection missions during ENRICH 2023 and ELROB 2024. After successful ENRICH 2023 we decided to improve our system by adding LiDAR (Light Detection and Ranging) motion compensation with IMU (Inertial Measurement Unit). Our goal is to provide an affordable robotic solution as open source project available at https://github.com/JanuszBedkowski/msas_enrich_2023. Everything was fine till realistic test during ELROB 2024. Our system works well in 2D scenarios. It is not robust against large slopes. In this paper we show system overview and elaborate its limitations. We demonstrated the use of our open source project https://github.com/MapsHD/HDMapping for 3D map building with the mobile mapping system attached to the robot.