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An Approach to Design Navigation System for Omnidirectional Mobile Robot Based on ROS

Hiep Do Quang 1, Tien Ngo Manh 2, Cuong Nguyen Manh 2, Dung Pham Tien 2, Manh Tran Van 2, and Kiem Nguyen Tien 3, Duy Nguyen Duc 3
1. University of Economics-Technology for Industries, Hanoi, Vietnam
2. Institute of Physics, Vietnam Academy of Science and Technology, Hanoi, Vietnam
3. Hanoi University of Industry, Hanoi, Vietnam

Abstract—The paper presents the Simultaneous Localization and Mapping, and implement a path-planning for the movement of Omni-directional self-driving robots based on the navigation stack. The virtual environment consists of known static obstacles and unknown dynamic obstacles, the mobile robot is required to achieve both local obstacle-avoidance and follow the global path during the moving process. All tasks have been performed on a four-wheeled Omnidirectional robot with Jetson TX2 high-performance processor for central processing tasks, an Astra depth camera and a RPlidar sensor. The achieved results show the efficiency, research direction of using Robot Operating System for controlling and monitoring autonomous robots, self-driving cars as well as developing intelligent robot systems.

Index Terms—Robot Operating System (ROS), GAZEBO, RVIZ, simultaneous localization and mapping (SLAM), omni robot, Nav_core, navigation

Cite: Hiep Do Quang, Tien Ngo Manh, Cuong Nguyen Manh, Dung Pham Tien, Manh Tran Van, Kiem Nguyen Tien, and Duy Nguyen Duc, "An Approach to Design Navigation System for Omnidirectional Mobile Robot Based on ROS," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 11, pp. 1502-1508, November 2020. DOI: 10.18178/ijmerr.9.11.1502-1508

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.