A STUDY AND DESIGN OF NAVIGATION SYSTEM FOR A SKID-STEERING MOBILE ROBOT BASED ON ROS2

Abstract

This paper presents a control system design for a Skid-steering mobile robot, implemented on the Robot Operating System (ROS2). The robot's localization system includes encoder sensors, a digital compass, and a laser scanner, which are used to collect environmental data. The system employs the A algorithm* for path planning based on a 2D grid map and the Dynamic Window Based (DWB) for obstacle avoidance. The simulation results in a Gazebo simulation environment show that the robot is successfully generate moving path and avoid obstacles to move to the goal points.