Implementation of the pathfinding system for autonomous navigation of mobile ground robot

The paper considers the problem of autonomous navigation of unmanned ground vehicle and the way to solve it by using simultaneous localization and mapping methods based on the data, provided by the laser rangefinder, and path planning algorithms. We propose the control system’s architecture (including low-level communication protocols and high-level planning and mapping mechanisms) and it’s implementation based on Robot Operating System (ROS) framework. The system is planned to use as a toolbox for pathplanning algorithms evaluation on real robotic system in real environment. We also provide the visualization of current state of system. The evaluation is carried out on a Nexus wheeled robot, which specification is also given. Future work includes multi-robot modification of developed system (shared map over all users of the system), exploration algorithms implementation (including multi-agent exploration), multi-agent pathplanning algorithms embedding and moving the whole system’s operation on board of mobile ground robotic system. Copyright © 2018 for the individual papers by the papers’ authors.