Research, Design and Control Mobile Robots for Intelligent Navigation Based on ROS Programming


Nguyen Duc Dien, Roan Van Hoa, Pham Van Minh, Pham Van Huy, Le Van Anh, Tran Duc Chuyen*


Faculty of Electrical Engineering, University of Economics – Technology for Industries, No. 456 Minh Khai, Ha Noi, Vietnam.

Corresponding Author Email: [email protected]

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

This paper presents the design of mobile robot control application for intelligent navigation in the flat environment with the ability to avoid obstacles on the way. The programming tool is the operating system for the robot ROS (Robot Operating System). To perform automatic navigation for mobile robots, follow the sequence: one is the process of locating the robot in the environment and mapping (called SLAM – Simultaneous Localization and Mapping), the other is performing automatic navigation on the existing map. To implement SLAM, the paper uses the Adaptive Monte Carlo Localization (AMCL) algorithm. Next, the navigation system will build a motion trajectory for the robot towards the target, move the robot to the target and the robot can avoid obstacles appearing on the way based on the dynamic window approach (Dynamic Window Approach – DWA). Experimental results have shown the effectiveness of the studied mobile robot model.