Transactions on Machine Intelligence

Transactions on Machine Intelligence

Gazebo Simulation and ROS Implementation to Examine G-mapping SLAM Algorithm to Navigate Turtlebot-3 Robot

Document Type : Original Article

Authors
M.R. Sayyed Noorani
F. Aghdam Shahryar
Department of Mechatronics Engineering, University of Tabriz, Tabriz, Iran
10.47176/TMI.2025.؟؟؟؟؟
Abstract
This study addresses to Gazebo-based simulations and real-world implementations of G-mapping SLAM (Simultaneous Localization and Mapping) algorithm by exploiting the ROS (Robotic Operating System) framework to navigate Turtlebot3 robot. Specifically, we utilize the SLAM_Gmapping package, a well-established algorithm included in the Turtlebot3 package developed for ROS, which employs a LIDAR sensor for environmental mapping. We evaluate the performance of the SLAM_Gmapping algorithm in the both of simulated and real-world environments. Two strategies of manual and automatic (DWA) guidance in the present of static as well as dynamic obstacles are compared. Results indicate that in the simulated environment, manual navigation of the robot in the presence of static obstacles leads to more accurate and faster mapping. In contrast, in the real-world, automatic guidance yields better performance, albeit over a longer duration. Parametric examination of G-mapping SLAM algorithm in different environmental conditions demonstrates its adaptability and capabilities to navigate the Turtlebot3 in indoor spaces.
Keywords
SLAM
G-mapping
Robotic Operating System (ROS)
Gazebo
Turtlebot-3 Robot
Transactions on Machine Intelligence
Volume 8, Issue 4
Autumn 2025
Pages 171-180

  • Receive Date 24 June 2025
  • Revise Date 23 September 2025
  • Accept Date 20 October 2025