MOBILE ROBOT CONTROL USING ROBOT OPERATING SYSTEM

Abstract

Mobile robots can move freely throughout their working environment in which they can encounter known and unknown obstacles. The main tasks of mobile robots are terrain mapping, localization, path planning, and motion control could be significantly complex to implement on bare robot software. ROS represents a framework that enables the usage of a wide array of algorithms for mobile robots which can be easily used by various robot platforms. In this paper, we presented the implementation of ROS on a simple robot with a differential drive. This widely available robot platform can be used by a student to implement complex navigation algorithms which are supported by ROS.