Development of Autonomous Mobile Robot Platform with Mecanum Wheels

Abstract

Nowadays, an Autonomous Mobile Robot (AMR) has been introduced to use in industrial application. In fact, it can find the best path to reach the target area by using preloaded map. The AMR uses data from cameras and LIDAR or laser scanner to detect surroundings to create a computer map for path planning. This paper shows a development of a mobile robot platform with Mecanum wheels for autonomous navigation, including its mechanical design, system design and robot construction. In addition, the robot using NVIDIA Jetson TX2 installed with ROS as a high-level control to accomplish navigation tasks. Data from RP LIDAR A2 and Intel Realsense Camera D415 were used to create robot map. While a low-level control use Teensy 3.2 microcontroller in order to send PWM signal and get sensor data from IMU including encoder. The robot design for educational and research purposes in order to move the object from the origin to the desired area automatically.