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.

Topics
Software engineering, Hardware interfaces, Robotics
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