Development of Navigation System for Trackless Self-propelled Vehicle Based on ROS

• Main Authors: QI-DONG CAI, 蔡啟東
• Other Authors: 黃榮堂
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/md6u9d

碩士 === 國立臺北科技大學 === 自動化科技研究所 === 107 === This research is based on the Robot Operation System (ROS) to develop a navigation system. Multiple subsystems and ROS packages are connected to realize the overall functions regarding robot motion, path planning, and control. The car can be used as a mobile robot to reduce labor costs and occupational injuries in a smart factory of the Internet of things in Industry 4.0 framework. The control system uses Arduino to control the hardware layer, and the software layer uses ROS (Robot Control System) as the core of AIV navigation system. By integrating into LIDAR, IMU, and encoders, the algorithm can timely calculate the position of the AIV and plan the route. The AIV also equipped with Bluetooth 4.0 (which can connect to our Bluetooth IOT system), Wi-Fi and RF as an external communication.