Researching And Building Environmental Awareness System for Self-Propelled Three-Wheeled Omni Robot based on Algorithm EKF-SLAM And ROS Operating System

International Journal of Computer Science and Engineering
© 2021 by SSRG - IJCSE Journal
Volume 8 Issue 1
Year of Publication : 2021
Authors : Pham Minh Thai

How to Cite?

Pham Minh Thai, "Researching And Building Environmental Awareness System for Self-Propelled Three-Wheeled Omni Robot based on Algorithm EKF-SLAM And ROS Operating System," SSRG International Journal of Computer Science and Engineering , vol. 8,  no. 1, pp. 39-43, 2021. Crossref,


Motion trajectory is an important problem in motion control for autonomous robots, in which the environmental perception system plays a core role because it provides information about the operating environment for the robot. The environmental awareness system is responsible for mapping and self-locating the robot in the operating environment (SLAM - Simultaneous Localization and Mapping) and detecting obstacles during the robot's movement. The paper presents the design and construction of an operating environment awareness system for three-wheeled Omni robots based on the EKF-SLAM algorithm and the ROS (Robot Operating System) robot programming operating system. The results obtained show the effectiveness of the cognitive system built.


Robot operating system, Rviz, Robot Omni, Simultaneous localization and mapping (SLAM), EKF-SLAM


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