Autonomous Navigation Mobile Robot using ROS Navigation Stack.
Watch the video tutorial here .
Website documentation here.
AMCL is used for localisation, with DWA local planner planner for path planning.
Sensors used:
- RP Lidar A1-M8.
- Motor Encoders.
Other parts:
- Nvidia Jetson Nano 4gb.
- 2x Arduino nano (One for each motor to make sure smooth operation of Interrupt service routine to count the encoder pulses and ROS communication over I2C.)
- Encoder motors Link Here
- Robot Chasis
- Boost converter to provide 12V for motors.
![Arduinos and motors](https://github.com/0xraks/Autonomous_Mobile_Robot/raw/main/mobile_robot_autonomous_navigation/2020-12-07%2011_37_10-Autonomous%20Navigation%20Mobile%20Robot%20using%20ROS%20_%20Jetson%20Nano%20_%20RPLidar%20_%20Different.png)