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A Navigation Tracked Robot Based on 3D Feature Map Using Distributed Computing
This paper aims to design and develop both software and hardware architectures of a tracked robot such that it is capable of navigating in an indoor environment as well as climbing stairs. Regarding hardware developments, a brand-new tracked robot is designed to improve the dynamics of motors and increase the frictional forces of the tracks. Moreover, a more reliable structure is made by using carbon-fiber as well as aluminum alloy. As for software developments, Robot Operating System (ROS) is employed to provide a computing interface for several algorithms. As such, since a complicated program can be operated in parallel by different modules including receiving sensor measurements, stairs-climbing algorithms, and motion control, the overall design flexibilities can be increased. Integrated with path planning and vision-based localization algorithm, the robot is able to navigate in an indoor environment, and users can monitor the images captured by an Xtion RGB-D camera in real time as well. To verify the robustness of the proposed tracked robot, various experiments are conducted, and experimental results show that the robot is well-developed in terms of navigation and roaming between floors.
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