Design of system for open source mobile robot based on ROS

LI Jianyong, LIU Xuemei, LI Xuexia, DU Boyang

（ Northwestern Polytechnical University Ming De College, Xian 710124, China ）

Abstract: Aiming at the question of the high cost of robot which was currently used to study the simultaneous localization and mapping (SLAM) of the indoor environment, the robot operating system (ROS) was studied. An open source hardware platform was built with the open source card computer of Raspberry pi 2B as the heart. The development of system software was carried out by using the distributed processing framework of ROS. A lowcost and highperformance open source mobile robot was designed to carry out the research on SLAM and other aspects, and the detailed performance test was carried out. Test results indicate that the design proposal of the mobile robot system is not only feasible, can transmit the robot platform node information wirelessly to a server node and remotely control the robot to move accurately; it also can be characterized as low cost, high performance and easy expansion.

Key words: SLAM; ROS; mobile robots; distributed processing framework; path planning