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Map-Based Navigation of a Mobile Robot Using MRPT Modules

The aim of this work is to achieve a navigation task for the ED-7273 mobile robot consisting of heterogeneous hardware components. These components are controlled by software modules developed by different manufactures and they use different communication mechanisms. Software modules are also required to process sensor information and control actuators for performing useful tasks. Although modular design has several advantages, it raises some integration problems, such as interconnection, communication, and configuration. These problems can be solved by using middleware. Thus, we integrate the navigation module of MRPT middleware with our Robot APIs in this work, while the long term goal is to develop customized middleware for educational and research robots. As seen in the experimental results, our map-based navigation can be carried out successfully.