Navigation and Control System of Mobile Robot Based on ROS

摘要

Control system and navigation are the most concerned topics in autonomous mobile robots. In this essay, control system based on STM32 and ROS (robot operating system) will be introduced, which contains hardware circuit designing, control software and upper computer software. In lower computer, we have realized velocity and current control of DC motors. While some other tasks such as posture calculation, sensor data transfer is also complete in lower computer. The upper computer platform is based on ROS (robot operating system), which is an open system for developers of robot. SLAM (simultaneous localization and mapping) and autonomous navigation have been realized on ROS with the data of laser scan.