Design and development of a ROS based LiDAR platform to scan environment for a mobile robot's autonomous motion

The objective of the research was to design and develop a LiDAR platform to scan the environment for a TIERA mobile robot's autonomous motion. The development of the system was done in Robot Operational System. The project was a part of a bigger project aimed to implement the autonomous charging system on the robot. The work was commissioned by the head of Laboratory of Intelligent Machines in the Lappeenranta University of Technology, Hamid Roozbahani. The information for the research was gathered from literature sources of Lappeenranta Academic Library, the Internet, and from Master’s thesis reports of previous researchers, who were working on TIERA project. This research was carried out in a Laboratory of Intelligent Machines in the Lappeenranta University of Technology. As a result of this thesis, the robot was completely set up for autonomous navigation utilizing ROS and LiDAR sensor. The 2D map for navigation inside the experimental field was built. In addition, the best concept design for a future charging station was selected. Further study is required to finalize the autonomous charging system implementation. Moreover, further tests of the implemented motion system in various conditions are needed