Implementing Autonomous Navigation on an Omni Wheeled Robot Using 2D LiDAR, Tracking Camera and ROS

This paper demonstrates the implementation and results of autonomous navigation algorithms on an Omni Wheel-based Robot using ROS (Robot Operating System). The basis of this application is autonomous navigation of the robot using Simultaneous Localization and Mapping (SLAM), specifically GMapping and Autonomous Path Planning Algorithms. The actual robot is Arduino-based, equipped with a tracking camera for Odometry data and a 2D LiDAR sensor for laser scan data of the environment. The robot is built on Omni wheels, making it possible to perform holonomic movements. The results of tuning the autonomous algorithms for this holonomic robot are also presented.