Design and Implementation of MobileRobot Navigation System Based on ROS Platform

Abstract

This paper presented a mobile robot navigation system based on ROS (Robot Operating System). The hardware structure of mobile robot control system based on ROS was designed, and the core module control principle of bottom and top control system was introduced. The software of robot control system was designed based on hierarchical design, including upper computer control system and chassis control system. A specific prototype was designed, and the experimental results showed that the system not only could control the robot in various ways, but also had the functions of autonomous positioning, mapping and obstacle avoidance navigation. It had the advantages of high control accuracy, low cost, modular design and easy expansion.