Design of A Differential Wheeled Trolley Based on ROS Robot Operating System

Abstract

From the perspective of the motion control of the mobile robot, this article realizes the development of a mobile robot based on the ROS Melodic version of the operating system under the Ubuntu 18.04 system, which can finally realize the functions of map construction and autonomous navigation. The mobile robot adopts a differential wheel structure, with Raspberry Pi as the host computer control board and STM32 as the bottom driver board to build a hardware platform. Raspberry Pi communicates with STM32 to obtain current speed information, heading angle information, and realize path planning, autonomous navigation and obstacle avoidance functions. The surrounding environment information is collected by lidar, SLAM map creation is carried out, and global path planning and local path planning are realized through the navigation function package.