Mapping and Navigation with Four-Wheeled Omnidirectional Mobile Robot based on Robot Operating System

2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE) Pub Date : 2019-12-01 DOI:10.1109/MoRSE48060.2019.8998714

Hiep Do Quang, T. Manh, C. Manh, Dung Pham Tien, Manh Tran Van, Duyen Ha Thi Kim, Van Nguyen Thi Thanh, Dam Hong Duan

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引用次数: 7

Abstract

The paper presents the Simultaneous Localization and Mapping, and navigation stack for the movement of Omni-directional self-driving robots based on the programming operating system for robots - Robot Operating System. The autonomous robot model used in the article is a four-wheeled Omnidirectional robot model, with Jetson TX2 high-performance processor for central processing tasks, with a depth camera and RPLIDAR sensors being simulated and building realistic models. Monitoring results of map, positioning, and navigation of robots are built based on mass of data obtained from Laser Scan, depth camera, and Point Cloud during the robot movement conducted by simulation based on GAZEBO software, and test experiment on ROS's RVIZ software. The achieved results show the efficiency, research direction of using ROS for controlling and monitoring autonomous robots, self-driving cars as well as developing intelligent robot systems.

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基于机器人操作系统的四轮全向移动机器人测绘导航

基于机器人编程操作系统——机器人操作系统，提出了面向全向自动驾驶机器人的同步定位与地图绘制和运动导航堆栈。本文使用的自主机器人模型为四轮全向机器人模型，采用Jetson TX2高性能处理器进行中央处理任务，并采用深度摄像头和RPLIDAR传感器进行仿真，建立逼真模型。基于GAZEBO软件对机器人运动过程中激光扫描、深度相机、点云获取的大量数据进行仿真，并在ROS的RVIZ软件上进行测试实验，构建机器人的地图、定位、导航监测结果。所取得的结果显示了利用ROS控制和监测自主机器人、自动驾驶汽车以及开发智能机器人系统的效率和研究方向。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE)

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