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DINAME2019
DINAME2019
Project and Development of a Mecanum-wheeled Robot for Autonomous Navigation Tasks
Submission Author:
João Carlos Virgolino Soares , RJ
Co-Authors:
João Carlos Virgolino Soares, Gabriel Abati, Gustavo Henrique Duarte Lima, Carlos Luiz Machado de souza junior, Marco Antonio Meggiolaro
Presenter: João Carlos Virgolino Soares
doi://10.26678/ABCM.DINAME2019.DIN2019-0171
Abstract
This paper presents the project and development of a Mecanum-wheeled robot with a system for autonomous navigation. The robot is equipped with odometry and a laser sensor for range scans. A Monte Carlo Localization algorithm is used to estimate the pose of the robot in a global coordinate system and, simultaneously, a Grid Map is generated with the range scans to enable navigation. Once the map is constructed, the robot is able to perform autonomous navigation, given a desired goal. The Robot Operating System (ROS), an open-source framework for writing robot software, is used as middleware.
Keywords
Mecanum-wheeled Robot, Autonomous Navigation, Monte Carlo Localization, Simultaneous Localization and Mapping
