This paper presents a feasible method for controlling and monitoring Autonomous Guided Vehicles (AGV) that are operated under the Robot Operating System (ROS). The ROS control framework provides the capability to implement and manage robot controllers with a focus on both real-time performance and sharing of controllers in a robot-agnostic way. Furthermore, the framework implements solutions for controller-lifecycle and hardware resource management as well as abstractions on hardware interfaces with minimal assumptions on hardware or operating system. The mobile robot follows the path and realizes the autonomous moving function. ROS platform was used for a tracked mobile robot to realize the Simultaneous Localization and Mapping (SLAM) technology. Implementation of SLAM for mapping and navigation in an indoor environment under robot operating system ROS, using differential drive robot provided by laser scan. The mapping process is done by using ROS packages based on Extended Kalman (EKF) filter algorithm, whereas localization is done by using packages based on Adaptive Monte Carlo Localization (AMCL), navigation is performed by ROS built functions.
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24 July 2023
SECOND INTERNATIONAL VIRTUAL CONFERENCE ON INTELLIGENT ROBOTICS, MECHATRONICS AND AUTOMATION SYSTEMS (IRMAS2022): Theme: Innovation towards Automated Future
22–23 April 2022
Chennai, India
Research Article|
July 24 2023
Development of autonomous mobile robot with defined path control using intelligent robot operating system
Govardhan Yarajala Sreenivasulu;
Govardhan Yarajala Sreenivasulu
1
School of Mechanical Engineering, Vellore Institute of Technology
, Chennai, India
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Kamikkiya Palanisamy;
Kamikkiya Palanisamy
1
School of Mechanical Engineering, Vellore Institute of Technology
, Chennai, India
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Saravanakumar Devaraj;
Saravanakumar Devaraj
a
2
Centre for Automation, Vellore Institute of Technology
, Chennai, India
aCorresponding authors: [email protected]
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Sakthivel Gnanasekaran;
Sakthivel Gnanasekaran
b
2
Centre for Automation, Vellore Institute of Technology
, Chennai, India
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Iyswarya Annapoorani;
Iyswarya Annapoorani
c
2
Centre for Automation, Vellore Institute of Technology
, Chennai, India
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Irraivan Al Elamvazuthi
Irraivan Al Elamvazuthi
3
Department of Electrical & Electronic Engineering, Universiti Teknologi PETRONAS
, Seri Iskandar, Malaysia
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Govardhan Yarajala Sreenivasulu
1
Kamikkiya Palanisamy
1
Saravanakumar Devaraj
2,a
Sakthivel Gnanasekaran
2,b
Iyswarya Annapoorani
2,c
Irraivan Al Elamvazuthi
3
1
School of Mechanical Engineering, Vellore Institute of Technology
, Chennai, India
2
Centre for Automation, Vellore Institute of Technology
, Chennai, India
3
Department of Electrical & Electronic Engineering, Universiti Teknologi PETRONAS
, Seri Iskandar, Malaysia
AIP Conf. Proc. 2788, 070005 (2023)
Citation
Govardhan Yarajala Sreenivasulu, Kamikkiya Palanisamy, Saravanakumar Devaraj, Sakthivel Gnanasekaran, Iyswarya Annapoorani, Irraivan Al Elamvazuthi; Development of autonomous mobile robot with defined path control using intelligent robot operating system. AIP Conf. Proc. 24 July 2023; 2788 (1): 070005. https://doi.org/10.1063/5.0148660
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