Researching And Building Environmental Awareness System for Self-Propelled Three-Wheeled Omni Robot based on Algorithm EKF-SLAM And ROS Operating System

Pham Minh Thai

doi:https://doi.org/10.14445/23488387/IJCSE-V8I1P107

Research Article | Open Access

Volume 8 | Issue 1 | Year 2021 | Article Id. IJCSE-V8I1P107 | DOI : https://doi.org/10.14445/23488387/IJCSE-V8I1P107

Researching And Building Environmental Awareness System for Self-Propelled Three-Wheeled Omni Robot based on Algorithm EKF-SLAM And ROS Operating System

Pham Minh Thai

Citation :

Pham Minh Thai, "Researching And Building Environmental Awareness System for Self-Propelled Three-Wheeled Omni Robot based on Algorithm EKF-SLAM And ROS Operating System," International Journal of Computer Science and Engineering , vol. 8, no. 1, pp. 39-43, 2021. Crossref, https://doi.org/10.14445/23488387/IJCSE-V8I1P107

Abstract

Motion trajectory is an important problem in motion control for autonomous robots, in which the environmental perception system plays a core role because it provides information about the operating environment for the robot. The environmental awareness system is responsible for mapping and self-locating the robot in the operating environment (SLAM - Simultaneous Localization and Mapping) and detecting obstacles during the robot's movement. The paper presents the design and construction of an operating environment awareness system for three-wheeled Omni robots based on the EKF-SLAM algorithm and the ROS (Robot Operating System) robot programming operating system. The results obtained show the effectiveness of the cognitive system built.

Keywords

Robot operating system, Rviz, Robot Omni, Simultaneous localization and mapping (SLAM), EKF-SLAM

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