ROS-Driven Autonomous Navigation: A Scalable Framework for Wheeled Robots in Dynamic Environments
Koushik Paul -, Abhisri Dugar -, Abhishek Dugar -, Abhradeep Hazra -, Aronno Ghosh - · International Journal For Multidisciplinary Research · 2025
Autonomous navigation is important for wheeled robots in dynamic and unstructured environments. This paper details a ROS-based framework for motion planning that gives a robust and modular platform for the development and integration of robotic systems. The methodology involves robot modeling, environment mapping, path planning, control strategies, and execution mechanisms. It is built on ROS packages and tools like RViz, Gazebo, and MoveIt! It has to efficiently plan motion. This is simulated in details and even run in real-life. From both simulation and the real-world analysis, this shows that such a system would really navigate even constrained environments such as smooth trajectory generation or obstacle avoidance. This shows scalability and applicability of such systems, based on the ROS architecture, towards highly variant applications starting from industrial automation all the way up to an autonomous vehicle.