Využití ROS2 pro řízení autonomního robota

Abstract

This thesis deals with the modernization of the software solution of an autonomous mobile robot for tool transport. The original system, developed in the ROS 1 environment, has been transferred to the ROS 2 environment, which offers increased flexibility, safety and real-time support. The work includes analysis of the original solution, design and implementation of new hardware and software components, including a sensor system for obstacle detection, person localization using UWB technology, and control algorithm design. LiDAR and ultrasonic sensors were implemented for obstacle detection, while person localization was implemented using Pozyx. The control algorithm was designed using the Navigation2 tool, which allows the robot to dynamically navigate in the environment. The functionality of the system was first verified on a simulated robot model in the Gazebo environment and then implemented on a real robot. The result is a fully functional system that enables autonomous robot navigation using modern technologies and ROS2 tools.