SROS: Educational, Low-cost Autonomous Mobile Robot Design Based on ROS

Abstract

The paper describes the design process of a low-cost mobile robot based on the Arduino platform and powered by the Robot Operating System (ROS) to perform autonomous navigation, with a special focus on education. The paper contains an overview of the Robot Operation System structure, working principles, and application to real mobile robots. At the same time, consider the theory of Simultaneous Localization and Mapping (SLAM) and ways of its implementation in the practice. The practical part contains the description of the construction process of a differential drive mobile robot, the establishment of remote control and full integration process of Robot Operating System to the robot for self-localization, indoor mapping, and autonomous navigation purpose. The test results and performance are discussed and analysed.