Autonomous navigation system for mobile robot in dynamic environment

Abstract

Mobile robots have found numerous applications across various domains, such as agri-culture, mining, construction, and military. The versatility and high mobility of ground wheeled robots make them a popular choice for navigating complex and hazardous envi-ronments. However, achieving autonomous navigation is a challenging task as it relies on critical factors such as perceiving the robot’s surroundings, create a representative map of the environment, and localize itself in real-time. In this project, we present an approach for achieving autonomous navigation for a two-wheeled differential ground robot utilizing the robot operating system (ROS) environment .The objective is to create a navigation system that is robust and dependable, capable of enabling the robot to navigate autonomously through an unknown environment and reach a specifie ddestina-tion. The proposed navigation system incorporates the use of the SLAM algorithm for mapping and localization, as well as the A* algorithm for path planning. The developed system is tested and evaluated within simulation environment, which demonstrates the navigation system’s effectiveness and precision. Finally, the proposed navigation system is implemented on a mobile robot , and its performance is evaluated in real-world situations. The outcomes indicate that the developed navigation system can effectively enable the robot to navigate autonomously while avoiding obstacles and arriving at its destination with precision. This project topic is part of the research project to develop a mobile robot platform intended for surveillance purposes called ROSMI, which aims to adapt perception, localization, and navigation techniques to a surveillance robot that can perform tasks such as threatening and sensitive sites. These techniques are imple-mented on the robotic platform, equipped with a Raspberry Pi, a camera, and a Lidar. The developed application must facilitate the mobile robot’s autonomous navigation while transmitting in real-time the acquired video stream from the camera to a remote control station.