The MOLAM Project: The design of a context specific navigation framework for a mobile robot
Date
2013-04
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
Ashesi University College recently acquired a TurtleBot1 robotic
platform to experiment with service robotics on campus. This
platform runs the Robotics Operating System (ROS)2 for developing
robotics applications. This MOLAM project (Motion, Localization And
Mapping) sought to build a fundamental framework that extends
ROS functionalities on a TurtleBot to navigate autonomously around
the Ashesi campus in Berekuso.
The focus of this project was to extend the ROS enabled
functionalities on the TurtleBot for mapping, localization and motion
planning to create a customized navigation framework suited for the
Ashesi University campus. Having such a foundation, other service
applications, such as a waiter robotic system, a courier robotic
system, a tour guide robotic system etc., can be built on this
framework.
This paper outlines the various tools and processes used in
assembling and configuring this robotic system. It also delineates
the challenges encountered in assembling and configuring this
robotics system, as well as the “work-arounds” devised to solve
these challenges. Finally, this paper proposes design concepts for
future work in using the TurtleBot system as a Tour Guide Robotic
System for Ashesi University College.
Description
Applied project submitted to the Department of Computer Science, Ashesi University College, in partial fulfillment of Bachelor of Science degree in Computer Science, April 2013
item.page.type
Applied Project
item.page.format
Keywords
TurtleBot, Robotics Operating System, Ashesi University College, robotics