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

© 2021 by SSRG - IJCSE Journal

Volume 8 Issue 1

Year of Publication : 2021

Authors : Pham Minh Thai

10.14445/23488387/IJCSE-V8I1P107

How to Cite?

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," SSRG 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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