HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND
EDUCATION
FALCUTY OF HIGH-QUALITY TRAINING
-⸙∆⸙-

GRADUATION THESIS

DESIGN AN INDOOR HOLONOMIC MOBILE ROBOT
USING LIDAR

Student: NGUYEN THANH TAM
ID: 19151086
Student: TRAN MINH QUAN
ID: 19151078
Major: AUTOMATION AND CONTROL ENGINEERING
Advisor: VU VAN PHONG, PHD.

Ho Chi Minh City, July 2023
i

THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness

-Ho Chi Minh City, July..., 2023

GRADUATION PROJECT ASSIGNMENT
Student name: Nguyen Thanh Tam

Student ID: 19151086

Student name: Tran Minh Quan

Student ID: 19151078

Major: Automation and Control
Engineering

Class: 19151CLA

Advisor: Ph.D Vu Van Phong

Phone number: 0981479507

Date of assignment: 06/02/2023

Date of submission: 14/07/2023

1. Project title: DESIGN AN INDOOR HOLONOMIC MOBILE ROBOT USING LIDAR
2. Initial materials provided by the advisor: Raspberry Pi 4 Model B
3. Content of the project:
-

Research and implement omni wheel into the Mobile Robot.

-

Research and implement ROS into the Mobile Robot.

-

Research a solution to supervise and remotely control robot.

-

Design and build hardware robot.

-

Programming to control the robot’s movement.

-

Experiment and improve robot’s flexibility.

-

Evaluate result and write thesis.

4. Final product: The complete indoor holonomic mobile robot with the ability to navigate
and avoid obstacle.
CHAIR OF THE PROGRAM
(Sign with full name)

ADVISOR
(Sign with full name)

THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness

-Ho Chi Minh City, July …, 2023

ADVISOR’S EVALUATION SHEET
Student name: Nguyen Thanh Tam

Student ID: 19151086

Student name: Tran Minh Quan

Student ID: 19151078

Major: Automation and Control Engineering
Project title: DESIGN AN INDOOR HOLONOMIC MOBILE ROBOT USING
LIDAR
Advisor: Ph.D Vu Van Phong

EVALUATION
1. Content of the project:

..........................................................................................................................................
..........................................................................................................................................
..........................................................................................................................................
2. Strengths:
..........................................................................................................................
...

...
t transform will be provided by the robot_pose_ekf node
! map to odom will be provided by the AMCL
! Wheel Encoder Tick Publisher and Base Controller Using Arduino
! motor_controller_diff_drive_2.ino is the Arduino sketch
! Subscribe: /cmd_vel
! Publish: /right_ticks, /left_ticks
node pkg=rosserial_python type=serial_node.py name=serial_node
param name=port value=/dev/ttyUSB0/
param name=baud value=57600/
/node

! Wheel Odometry Publisher
! Subscribe: /right_ticks, /left_ticks, /initial_2d
! Publish: /odom_data_euler, /odom_data_quat
node pkg=localization_data_pub type=ekf_odom_pub name=ekf_odom_pub
/node

! Initial Pose and Goal Publishser
! Publish: /initialpose, /move_base_simple/goal
node
pkg=rviz
type=rviz
/home/ubuntu/Arduino/test_nav.rviz

name=rviz

args=-d

/node

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APPENDIX

! Subscribe: /initialpose, /move_base_simple/goal
! Publish: /initial_2d, /goal_2d
node
pkg=localization_data_pub
name=rviz_click_to_2d

type=rviz_click_to_2d

/node

! Lidar Data Publisher Using RPLIDAR from Slamtec
! Used for obstacle avoidance and can be used for mapping
! Publish: /scan
node name=rplidarNode
output=screen

pkg=rplidar_ros

param name=serial_port

type=rplidarNode

type=string value=/dev/ttyUSB1/

param name=serial_baudrate

type=int

!param name=serial_baudrate type=int

value=115200/!A1/A2
value=256000!A3

param name=frame_id

type=string value=laser/

param name=inverted

type=bool value=false/

param name=angle_compensate

type=bool value=true/

/node

! Move Base Node
! Subscribe: /move_base_simple/goal
! Publish: /cmd_vel
node pkg=move_base type=move_base respawn=false name=move_base
output=screen
rosparam
file=$(find
navstack_pub)/param/costmap_common_params.yaml
command=load ns=global_costmap /
rosparam

file=$(find

navstack_pub)/param/costmap_common_params.yaml

98

APPENDIX

command=load ns=local_costmap /
rosparam
file=$(find
navstack_pub)/param/local_costmap_params.yaml
command=load ns=local_costmap /
rosparam
file=$(find
navstack_pub)/param/global_costmap_params.yaml
command=load ns=global_costmap /
rosparam
file=$(find
command=load /

navstack_pub)/param/base_local_planner_params.yaml

/node

/launch

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