ROS based LiDAR autonomous navigation robot design and application

Abstract

ROS has become the mainstream of robot application development, in which SLAM synchronous positioning and mapping is the key core technology of robot autonomous navigation. In this paper, a ROS based Lidar autonomous navigation robot is designed and developed for the teaching needs of service robots and artifi cial intelligence majors. The robot can be used as a professional teaching carrier to meet the practical teaching of professional courses such as Linux, ROS and intelligent robot. With Jetson Nano as the main control, the system is equipped with laser radar, robot arm and handle, which can realize SLAM mapping, navigation and robot arm taking and placing materials. The API application function based on Python is designed and developed to realize the motor control, voltage reading, IMU data reading and odometer data reading functions of the autonomous navigation robot. Serial communication is adopted between the upper computer and the lower computer.