Implementing Ros For Autonomous Mobile Robot Based On Lidar Navigation
Aulia Syamil, Rusman Rusyadi · 2017
The purpose of this thesis is to implement ROS framework to establish an autonomous mobile robot based on radio controlled car platform. The navigation system in this work will be designed for corridor environment, using a wall follower technique. A Laser Range Finder (LRF) as primary sensor will be used to determine angle and range of detected wall or object. To compute and process the data, Mini PC will be used and mounted onto the platform. Lastly, Arduino Microcontroller controls the steering movement, and motor speed through Electronic Speed Controller (ESC) by sending PWM signals. LRF and Microcontroller, will be connected into Jetson TK1 through USB interface.