Design and development of navigation systems for home use robots

• Main Author: Chen, Yingpeng
• Other Authors: Huang Guangbin
• Format: Final Year Project
• Language: English
• Published: 2017
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: http://hdl.handle.net/10356/70825
• Institution: Nanyang Technological University

This project is aiming to build up a robot automatic robot system for home use. The minimum requirements are: 1) Design and install a robot; 2) It can plan the navigation route; 3) It can detect and avoid obstacles. First of all, finishing the project needs to build up a robot can do simple movement. And with the help of some avoidance sensors (ultrasonic sensors) or Kinect camera, it can make the robot achieve the function of obstacle avoidance. Finally using the system ROS (Robot Operating System), the robot implements the function that mapping of different kind of landscape, store and load the map of the landscape. Finally, can use the ROS navigation stack to do the localization and navigation of the robot. These are three basic design steps of my project. For the Arduino part, it needs a lot of time to do the research of hardware selection and assembly. Based on the consideration of the function, inner communication between each parts, the power consumption of the whole system, the compatible of the whole system and the cost. It needs to find out the most suitable component. And do a lot of Arduino coding so that it can make the robot run properly. With some interrupt inside coding, it can communication with ROS to control the system to do mapping, localization and navigation. Researching and studying the basic knowledge of the structure, different published topics and the ROS packages is really important in this project. The Arduino is used as the collection board to collect different kinds of data through GPIO ports and upload them into the ROS system to do next step of analysing and processing. The ROS can provide varied kinds of packages can be used to do data collection and conversion, display different kinds of data in the system, analysis these data to do navigation.