NAVIGATION MODEL FOR FOUR-WHEEL MOBILE ROBOT: A BOND GRAPH AND ROBOT OPERATING SYSTEM APPROACH

Rajmeet Singh∗ and Tarun K. Bera∗

Keywords

Fourwheel mobile robot, bond graph, ROS, obstacle avoidance, autonomous navigation

Abstract

Due to an enormous increase in the data of road accidents in daily life, the researchers pay more attention towards the safe driving concepts. The obstacle detection and avoidance are the key task for the autonomous navigation. In this paper, an attempt is made to develop the obstacle avoidance algorithm for four-wheel mobile robot. Initially, the bond graph (BG) approach is implemented to develop the dynamic model of the four-wheel mobile robot. The BG model helps to develop the efficient control approach after analysing the structural formation of the dynamic model. Later on, Robot Operating System (ROS) is used to build up the navigation model of the four-wheel mobile robot. Three ultrasonic range sensors are used for mapping the environment. The model assists to develop the 2D occupancy grid map of the surrounding. The laser scan and odometry data of the robot help to generate the robot’s actual position with respect to the map. Finally, a prototype model of the four-wheel mobile robot is developed. The proposed navigation model is implemented on the robotic model and is validated with the simulation results. The effectiveness of the model is tested for single and two unknown obstacles in the mapped environment for both in simulation and experimentation scenario.

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