DESIGN ROS-BASED SLAM MOBILE ROBOT FOUR WHEELS DRIVE

Abstract

The topic of mobile robot is still interested by many researchers because of the flexible on moving and searching unknown environment. In recent years, Slam with robot operating system (ROS) is one of the main research topics. However, many researchers simulate by software or use an industrial mobile robot. This paper aims to introduce a design method of a Slam mobile robot with four wheels drive. Overall system includes: i) a low-level-control system and ii) a high-level-control system. The low-level-control system controls and sends robot’s velocity to the high-level-control while the high-level-control gathers environment information from Lidar sensor, maps and calculates the mobile robot kinematics. Testing includes mapping an indoor room and mapping a maze. Results show that Slam works well with high accuracy. Besides, controller can control robot moving to any position in the map.