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Mobile Robot Navigation with ROS

posted Feb 16, 2011, 1:17 AM by Vishal Verma   [ updated Jun 21, 2011, 1:54 PM ]

Introduction

Ros stands for Robot Operating System. From the website: "...provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more...". Dr. Nikolaus Correll is working on using robots to autonomously explore a residence hall, be able to do minor tasks, and co-exist with the students there. We use ROS and the PrairieDog platform on our robots. We currently have capabilities of navigating in the hall using the Hagisonic Stargazer localization system, we have a lazer scanner to scan the surroundings and create a map, we have a 7-DOF robotic arm mounted on an iRobot Create platform which interfaces with OpenRAVE and is capable of path/motion planning of its own.

I am working on improving the navigation and path planning subsystem, and to transform its current state of a 2-Dimensional planner, to a 3-Dimensional (Discrete) one which would allow the robot to plan paths spanning multiple floors in the same building. (Moving between floors will be made possible by the work of another student, who is developing an interface for the robot which will allow it to call and ride in elevators).

Web Page for all Spring-2011 Projects of Advanced robotics:



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