Autonomous Mobile Robot for sensible material transport

The aim of the project

In a biological laboratory there’s the need to keep cell’s vials safe and to conserve them in a box containing liquid nitrogen This box stands in a refrigerated room and it’s possible to move it around to bring the vials to scientists to perform experiments

This project has the aim to simulate a mobile robot which is able to transport these vials autonomously, avoiding possible obastcles, to a scientist workstation in a goal position

Schematic view of the project

Modeling of the world

• Creation of the laboratory in GAZEBO

  

Modeling the robot

• Definition of a Differential Drive Robot

• Combining URDF and .xacro to create the model

  

Simulation

• ROS2 + GAZEBO + Rviz

• Spawning robot with all the sensors in Gazebo and Rviz

  

Controlling

• Gazebo control
• ros2_control
• Teleoperation
• Final definition of the launch file

Mapping & Localization

• ROS & SLAM

• Localization using SLAM

• Localization using AMCL