Design and Autonomous Navigation of 4WD UGV

摘要

This paper delves into the domain of Four Wheel Differential (4WD) Unmanned Ground Vehicles (UGV) and their autonomous navigation. The paper discusses the design and development of a 4WD UGV with sensor integration and navigation. The Paper explores the design considerations for 4WD UGVs and the systems architecture of Autonomous UGVs emphasizing the pivotal role of motor selection, sensors and navigational software in robotic navigation. The UGV uses sensors such as Three Dimension Light Detection and Ranging (3D LIDAR), Depth Camera, Inertial Measurement Unit (IMU) and Ultrasonic Sensors. The UGV motion is achieved by actuating four Brushless Direct Current (BLDC) motors. Navigational aspects such as 2D occupancy grid mapping, global and local path planning, motion planning, particle filter-based localization and recovery behaviors have been implemented using Robot Operating System (ROS). The primary focus is to present a comprehensive framework for the design and implementation of a 4WD UGV, coupled with an autonomous navigation software system. By scrutinizing the integration of hardware and software elements, we aim to contribute valuable insights into the development of versatile 4WD UGVs.