Autonomous Mobile Service Robot

Presented work aims to develop an autonomous mobile service robot which is able to navigate from the source to destination along with G-mapping of the given unstructured environment and it is able to localize itself in the generated map by using SLAM technique. This helps the robot to plan an efficient path to navigate to the goal position along with avoiding the obstacle interference. This is achieved with the help of ROS navigation stack. Robotic Operating System(ROS) is a framework which has been used to manage the robot’s operation, tasks, motion. The navigation of the robot is generally divided into global motion planning and local motion control to navigate and avoid the obstacle present in the generated path. In simulation 3D simulator GAZEBO has been used to simulate the environment and the robot. Simulated LIDAR is used to create the global map of the unknown environment which is analysed and compared with the actual environment using RViz Tool.