Mobile Robot Navigation using ROS
Hardver (és szoftver firmware)
Mobile robots and robotic vehicles are becoming more and more widespread in industrial and everyday scenarios as well. These robots have to navigate among obstacles safely while progressing towards their target. The purpose of this thesis project is to investigate and implement path planning and obstacle avoidance algorithms on a small-sized mobile robot. The robot has two driven wheels, a laser rangefinder sensor and a Rasperry Pi based contol unit, but lacks an interface board to incremental wheel encoders. The navigation algorithms have to be implemented using the ROS (Robot Operating System) software platform. Testing should be done in a simulator (e.g. Gazebo) first and thereafter optionally on the real robot as well.