Đồ án tốt nghiệp - Design and control Ros mapping and navigation robot

MINISTRY OF EDUCATION &amp TRAINING
HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY FOR HIGH QUALITY TRAINING

GRADUATION PROJECT

DESIGN AND CONTROL ROS MAPPING AND
NAVIGATION ROBOT
Students:
Le Nguyen Hoang Duy

Student ID: 19151001

Nguyen Tai Duc

Student ID: 19151067

Major: AUTOMATION AND CONTROL ENGINEERING
Instructor: M.Eng. Truong Ngoc Anh

Ho Chi Minh City, January 2025

GRADUATION THESIS

ADVISOR: M.Eng. Truong Ngoc Anh

THE SOCIALIST REPUBLIC OF VIETNAM
Independence- Freedom- Happiness
***-Ho Chi Minh city, January 2025

GRADUATION PROJECT ASSIGNMENT
Student’s name: Le Nguyen Hoang Duy
Student’s name: Nguyen Tai Duc
Major: Automation and Control Technology
Advisor: M.Eng. Truong Ngoc Anh
Date of assignment: 01/09/2024

Student’s ID number: 19151001
Student’s ID number: 19151067
Class: 19151CLA2
Phone number:
Date of submission: 06/01/2025

1. Project title: Design and control ROS mapping and navigation robot.
2. Initial materials provided by the advisor:
3. Content of project:
- Study about ROS robot operating system.
- Study and research the communication between Jetson Nano and Arduino
microprocessor.
- Design hardware for mobile robot and program to control motor speed as well
as rotation angle of robot.
- Build movement map for robot.
- Run test and calibrate model.
- Evaluate implementation results and write thesis.
4. The final results: Model of autonomous robot avoiding obstacles using lidar and
thesis report.
CHAIR OF THE PROGRAM
(Sign with full name)

ADVISOR
(Sign with full name)

GRADUATION THESIS

ADVISOR: M.Eng. Truong Ngoc Anh

THE SOCIALIST REPUBLIC OF VIETNAM
Independence- Freedom- Happiness
***

Ho Chi Minh city, January 2025

ADVISOR’S EVALUATION SHEET
Student’s name: Le Nguyen Hoang Duy
Student’s ID number: 19151001
Student’s name: Nguyen Tai Duc
Student’s ID number: 19151067
Major: Automation and Control Technology
Project title: Design and control ROS mapping and navigation robot
Advisor: M.Eng. Truong Ngoc Anh
EVALUATION:
1. Content of the project: ...................................................................................
2. Strengths: .......................................................................................................
3. Weaknesses: ...................................................................................................
4. Approval for oral defense? (Approved or denied)
..............................................................
...

...
nds still.
6.2. Recommendation
To perfect the robot to be more optimal, stable and work well in many different
environmental conditions, thereby being able to commercialize this robot model, the group
needs to develop further:
• Improve the hardware design to be more sturdy, compact, beautiful and have better
load-bearing capacity to transport goods or items for users.
• Integrate remote control applications via the Internet so that users can easily control
the robot via the users laptop, tablet or smartphone. In addition, the group needs to
research and develop more interactive features between the user and the robot
through the control interface.
• Increase the robots scanning and mapping capabilities. Increase the robots moving
speed while still maintaining the highest accuracy.
• Improve your ability to dodge, avoid obstacles and move to your destination quickly
and accurately.

74

GRADUATION THESIS

ADVISOR: M.Eng. Truong Ngoc Anh

REFERRENCES
[1]

Daniel Foead, Alifio Ghifari, Marchel Budi Kusuma, Novita Hanafiah, “A
Systematic Literature Review of A* Pathfinding”, January 2021.

[2]

Marija Seder, Ivan Petrovic, “Dynamic window based approach to mobile robot
motion control in the presence of moving obstacles”, Proceedings 2007 IEEE
International Conference on Robotics and Automation, April 2007.

[3]

Joao A Fabro and Rodrigo Longhi Guimaraes, “ROS Navigation: Concepts
and Tuturial”, Studies in Computational Intelligence, February 2016.

[4]

Arthur Huletski and Dmiriy Kartashov, “A SLAM research framework for
ROS”, the 12th Central and Eastern European Software Engineering
Conference in Russia, Octorber 2016.

[5]

Kiam Heong Ang, G. Chong and Yun Li, “PID Control System Analysis,
Design, and Technology”, August 2005.

[6]

Mariyana Todorova, Naumov V and Milena Karova, “Robot Path Planning
Algorithm”, January 2015.

[7]

Cui Zhi and Shi Xiumin, “Research on Path Planning of Mobile Robot based
on A* Algorithm”, 30-11-2019.

[8]

Marija Seder and Ivan Petrovic, “Dynamic window - based approach to
mobile robot motion control on the presence of moving obstacles”, Robotics
and Automation, 2007 IEEE International Conference, May 2007.

[9]

Igor Zubrycki and Grzegorz Granosik, “Introducing modern robotics with
ROS and Arduino, including case studies”, DOI: 10.14313/JAMRIS_12014/9, January 2014.

[10]

Sergei Kuzin and Gabor Sziebig, “SROS: Educational, Low – cost
Autonomous Mobile Robot Design Based on ROS”, January 2020

75