Main Catalog Mechanical Engineering and Machine Science Robots, Mechatronics, and Robotic Systems

Development of a navigation system for a training mobile robot

Authors: Maltsev A.V
Published in issue: #10(39)/2019
DOI: 10.18698/2541-8009-2019-10-541
Category: Mechanical Engineering and Machine Science \| Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: mobile robot, framework, robotic operating system, navigation system, autonomous control, laser rangefinder, chassis, detection of local obstacles, motion parameters
Published: 24.10.2019

The process of developing a navigation system for a training mobile robot is considered. The analysis of the existing navigation systems of mobile robots is carried out, the hardware of navigation systems is presented, their advantages and disadvantages are shown. The scheme of interaction of airborne subsystems with autonomous movement of a mobile robot is given. The design of the basic chassis of the training mobile robot and its technical characteristics are described. A block diagram of the interaction of ROS packages (robotic operating system) for creating a terrain map using a laser rangefinder is developed, as well as a block diagram of the interaction of ROS packets for the localization of a training mobile robot. Based on the studies, conclusions are drawn on the applicability of the proposed implementation of a navigation system based on a laser rangefinder for a training mobile robot.

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