Mapping and Navigation with Four-Wheeled Omnidirectional Mobile Robot based on Robot Operating System

摘要

The paper presents the Simultaneous Localization and Mapping, and navigation stack for the movement of Omni-directional self-driving robots based on the programming operating system for robots - Robot Operating System. The autonomous robot model used in the article is a four-wheeled Omnidirectional robot model, with Jetson TX2 high-performance processor for central processing tasks, with a depth camera and RPLIDAR sensors being simulated and building realistic models. Monitoring results of map, positioning, and navigation of robots are built based on mass of data obtained from Laser Scan, depth camera, and Point Cloud during the robot movement conducted by simulation based on GAZEBO software, and test experiment on ROS's RVIZ software. The achieved results show the efficiency, research direction of using ROS for controlling and monitoring autonomous robots, self-driving cars as well as developing intelligent robot systems.