Abstract

Developments in the industrial world are increasingly rapid along with technological developments,
autonomous robots are one of the many developed and used in the industrial world and become important
which is widely used in various industrial sectors. Autonomous robots move using navigation systems to
recognize the environment, navigation has an important role in autonomous robots but navigation requires an
accurate map with the surrounding environment so that the robot can move in accordance with the
environment. In this study, mapping accuracy analysis was carried out using the Hector-SLAM algorithm
method to map the surrounding environment by simulation and real-time (robot). This research has several
important compounds including robot operating systems (Robot Operating System), data filters such as hector
scan matching where to construct the data obtained, the type of sensor is very influential on the quality of the
map produced. This study tests whether the hector scan matching algorithm can do environment mapping
accurately. The results of this study can be concluded that, the map produced from the simulation and robot
(real) has a fairly good accuracy, this is based on matching the results of the simulation mapping and robot
(real) which has an accuracy of SSIM: 77.26%, MSE Error: 3.96%, Pixel Match: 55.46% of the robot mapping
results (real) while from the simulation results are displayed in the 2nd scenario used to compare with robots
obtained accuracy of SSIM: 87.29%, MSE Error: 1.65% and Pixel Match: 81.11%.