CONTROL AND NAVIGATION OF MOBILE ROBOT IN ROS SIMULATION PLATFORM
Keywords:
Autonomous mobile robot, controller; LiDAR; ROS; RViz; SLAM.
Abstract
Control and navigation systems are two critical issues in
autonomous mobile robot control. In this paper, the Robot Operating System (ROS) is studied. ROS is a free and opensource platform, supported by large communities. It is not only a platform for robot software development but also provides programs with access to hardware resources. Localization and mapping are performed on ROS using laser scanning data from Light Detection and Ranging (LiDAR) with the
simultaneous localization and mapping (SLAM) method to control and navigate the mobile robot. The simulation is conducted in the Robot Visualization tool (RViz). The mapping and path planning are demonstrated with various obstacles, and the robot successfully reached its destination
