Aplicação do framework de robótica rosno controle de seguimento de trajetória de um robô móvel usando sensor LIDAR para estimar posição e orientação

Abstract

In this work it is shown the integration of a LIDAR sensorusing the robotics framework Robot Operating System(ROS) in the Raspberry PI computer in orderto estimate position and orientation (posture) of a wheeled mobile robot. The measuring is done with the goal ofimplementinga trajectory tracking control technique. This technique is compared with the conventional odometry method where the encoders’data are used for posture estimation. The paper also presents the description of the robot as well as its mathematical modeling. Two controllers in cascade were used to implement the tracking control. A kinematics controller generates the references for internal motor speed controllers. Experimental results in an indoor environment are presented for trajectories with no obstacles.