A Robotic Control System Using Robot Operating System and MATLAB for Sensor Fusion and Human-Robot Interaction

Abstract

Human-robot interaction is a key aspect in the area of robotics. In this paper, the implementation of a sensor fusion based robotic control system architecture using Robot Operating System (ROS) and MATLAB is presented. Also, a few test cases under different scenarios is also highlighted for a robot navigation task and using the proposed architecture. The robotic system architecture was previously proposed and the work in this paper focuses on the implementation aspect of this architecture. This paper is a work in progress and more sensors and modules will continue to be interfaced and implemented as the research progresses.