Omnidirectional Wheel Autonomous Mobile Chassis Platform Based on ROS
In response to the slow response speed and lack of autonomous mobility of robot mobile chassis in complex environments,a ROS-based omnidirectional four-wheel autonomous navigation chassis platform is developed.This platform consists of a mobile robot mechanical chassis,a laser radar,and a software system driven by ROS,with the STM32F407 microcontroller system serving as an intermediate layer for software and hardware conversion.The mechanical chassis de-sign adopts a#shape configuration framework,which includes four omnidirectional wheels driven by DJI 3508 motors.The upper-level ROS host receives sensor signals,performs motion calculations,communicates with the chassis motors through the microcontroller system,and utilizes laser radar and odometry to achieve SLAM localization and navigation,thereby com-pleting the overall control process.
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