Autonomous rover for indoor localization
Document typeBachelor thesis
Rights accessOpen Access
The goal of this project is the implementation of an indoor Rover localization system, processing data from a set of sensors integrated in the ROS (Robotic Operative System) system. ROS is selected due its modularity and broad use in the robotics field. The project includes a work platform, in our case a Rover where have to be implemented the different sensors (odometers and inertial sensors). It has to be noted that the Rover structure, the wheels and motors have been bought together (kit), and has been assembled using an assembly user guide. Sensor data have been acquired through two microcontrollers (Arduino and Motor Controller). Then, this data is sent through a serial port to the main microprocessors (Raspberry Pi 3) where ROS is executed. Hence, ROS reception messages have to be properly adapted to the format desired. The estimated output of ROS is the position and attitude of the Rover (being prepared to use along with other ROS modules). Calibration procedures must be designed, implemented and validated, for all or some of the sensors. The system will be used mainly in indoors (i.e. buildings). It must work with local and global reference systems. Hence, I have had to achieve some familiarity with coordinate and time transformations.