Abstract

In the field of robotics, integration has been one of the major challenges due to the complex architecture of hardware and software. The extended scale and scope of the robots make the robot software development complex. Robotic Operating System (ROS) solves the problem by serving as a flexible framework for robot software development. With easy access to code, robots with ROS became reachable to more around the world. This paper proposes the implementation of an autonomous mobile robot based on ROS. The system utilizes an ultrasonic sensor and also exploits the possibility of using BGT60TR13C, a Frequency Modulated Continuous-wave (FMCW) radar sensor for obstacle detection. All the tasks have been performed on a four-wheeled cart mobile robot with Raspberry pi pre-installed with ROS, ultrasonic sensor, radar, and motor driver. The ultrasonic sensor and radar can detect the obstacles and calculate the range of the obstacle. This range information is used to decide the movement direction and signals are sent to the motor driver through the Raspberry pi. The robot can move around the indoor environment using the sensors and an onboard single-board computer.

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