ROS Integration and Evaluation for Robot Navigation in a Narrow-Path Indoor Environment

Abstract

This project explores the implementation of ROS for robot navigation in an indoor environment with narrow pathways typically found in a grocery shop or library. The study discusses the design of the integration of different components including hardware such as sensors and actuators, and algorithms in ROS. The system uses LiDAR to first map the real-world environment to determine the static components of the environment. The purpose of the project is to determine the optimal system integration to achieve obstacle detection and avoidance specifically on dynamic obstacles in environments with narrow pathways. The results show $100 \%$ collision-free navigation either through avoiding obstacles or re-routing to an obstacle-free course.