Mobile Robot Simulation and Navigation in ROS and Gazebo

Abstract

Mobile robots are entering our daily lives as well as in the industry. Their task is usually associated with carrying out transportation. This leads to the need to perform autonomous movement of mobile robots. On the other hand, modern practice is that the planning of most processes is done through simulations. Thus, various future production problems can be anticipated and remedied or improved. The article describes the creation of a mobile robot model in the Gazebo simulation environment. Specific settings and features for running a mobile robot in autonomous navigation mode under the robot operating system are presented. The steps for creating a map, localization and navigation are presented. Experiments have been conducted to optimize and tune the parameters of both the robot model itself and the simulation control parameters.