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Autonomous Mobile Robot (Diff-Drive)

  • BharatFIH (a Foxconn Technology Group Company) Collaborated Autonomous Mobile Robot for Material Handling during electrical assembly
  • Differential Drive Robot driven by BLDC Motors and Additional External Incremental Encoders for Odometry Feedback.
  • Additional IMU MPU-9250 for better yaw feedback filtered using ekf.
  • Within the core of the Robot is a NVIDIA Jetson Xavier AGX computing the whole process.
  • Completed Full Autonomous navigation using DWA Planner during an Internship Period of 1 month (HW and Simulation).
  • Contributors: RoopanJK and Yasvanth S

1. Designing the URDF for our mobile robot:

  • Simple description of our robot's dimensional Properties using default box and cirlces.
  • Added Required plugins in .gazebo for simulation requirements.

2. Creating a experimental gazebo environment and mapping(with ref. to Physical environment):

  • Using Gmapping to map the simulation environment.

3. Tuning AMCL for better Localization:

  • Use rqt_reconfigure to tune the appropriate parameters for our specific robot model.

4. Autonomous Navigation in simulation with tuned DWA Planner:

  • The appropriate params for local and global cost map has been tuned (see Rviz).
  • DWA params were tuned for our specific robot model.

5. Physical Robot Autonomous Running Demo using DWA planner:

  • Here the robot is given consecutive waypoints as it reaches its current goal (usign move_base Action Client).

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