Design and Development of an Industrial-Grade Mobile Robot Platform

In this paper, we present Robomuse 6, a robot operating system (ROS)-enabled industrial-grade autonomous wheeled mobile robot for material transportation and research. This work demonstrates the mechanical design, motors selection and their PID control, sensor integration, and their combined result. Results are presented directly from tests conducted during hardware development. The problem with odometry drift is noticed in the initial tests, which is corrected using an IMU sensor.