Design and development of a mobile robot equipped with perception systems for autonomous navigation

Abstract

This paper presents a complete mechatronic approach in design and development of a mobile robot equipped with perception systems for autonomous navigation. The mechanical design, system and control architecture are presented in detail, followed by a description of the locomotion mechanism and the sensory system of the mobile robot. The developed robot has two degrees of freedom (DOF), eight revolute joints (8R) with parallel leg structure using 3D printed parts, commercially available embedded microcontrollers and sensors. The autonomous robotic system was controlled and managed by ROS packages. The experimental results are presented to validate robot functionalities.