Implementación de un sistema de navegación autónoma para un robot móvil de tracción diferencial

Abstract

This thesis work deals with the implementation of an autonomous navigation system for 4wd robots. autonomous navigation system for 4wd robots. This topic is currently an active area of research in the development of new robots. an area of active research in the development of new robots, these studies allow to be constantly These studies allow to be in constant evolution and to obtain notable advances in topics such as sensor fusion such as sensor fusion, route planning and obstacle detection. This system will allow the robot to move autonomously in different environments and situations, which will enable it to different environments and situations, which will give it the ability to identify and evade obstacles in the and evade obstacles present in the environment. To carry out the project, the the 4wd robot hardware has been adapted with a Jetson Nano processor, an ESP32 microcontroller, an ESP32 ESP32 microcontroller, a YDLIDAR sensor and a RealSense D435 camera. These devices make up our autonomous navigation system, integrated in ROS. integrated into ROS. When the navigation system is mounted on the robot, it will allow us to mapping the navigation area and gathering information to plot the best route, thus improving safety route, thus improving safety as the robot can detect obstacles and avoid collisions, which is and avoid collisions, which translates to the robot being more versatile and useful for a variety of applications applications such as the exploration of natural environments or the inspection of routes. route inspection.