Modelling, Simulation, and Implementing ROS for Autonomous Navigation of Tracked Robot

Authors

  • Wessam Hussein Canadian International College, Cairo, Egypt
  • Shaimaa M. Maged Canadian International College-Mechatronics department
  • El Sayed Adel Canadian International College, Egypt
  • Sherif Sabry Canadian International College, Egypt
  • Omar Abobakr Canadian International College, Egypt
  • Mazen Amr Mustafa Canadian International College, Egypt
  • Ahmed Essam Canadian International College, Egypt
  • Essam Morsy Canadian International College ,Cairo, Egypt

DOI:

https://doi.org/10.31695/IJASRE.2021.34020

Keywords:

Autonomous Vehicle, Dynamic Model, Kinematic Model, Path Planning, Image Processing

Abstract

This paper presents autonomous navigation and its implementation based on Robotic Operating System (ROS) for a non-holonomic autonomous tracked robot, whereas it handles a full design, implementation, dynamic modeling, and kinematic modeling of the robot. This paper applies robot localization using Adaptive Monte Carlo Localization (AMCL) which uses a particle filter to track the pose of a robot against a known map. It also uses mapping based on the mapping package. It provides laser-based SLAM (Simultaneous Localization and Mapping) mapping. The LIDAR is used to create a 2-D occupancy grid map. Path planning is established using the Dijkstra algorithm to plan a path to a goal position, using a persistent map created by the robot during the mapping process. Also, the robot was equipped with a camera module for image processing and detection of different objects for security purposes. The proposed system shows its capability for adaptation to road segments of different curvatures and the transitions between them.

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Published

2021-06-19

How to Cite

Wessam Hussein, M. Maged, S., Adel , E. S. ., Sabry , S. ., Ali Abobakr, O. ., Amr Mustafa, M. ., Essam Dakroury, A., & Essam Morsy. (2021). Modelling, Simulation, and Implementing ROS for Autonomous Navigation of Tracked Robot. International Journal of Advances in Scientific Research and Engineering (IJASRE), ISSN:2454-8006, 7(6), 1-13. https://doi.org/10.31695/IJASRE.2021.34020

Issue

Section

Articles