Omnidirectional Mobile Robot Simulator Based on ROS toward Field Implementation Oriented Development

Abstract

This paper describes prototyping of a simulator for a semi-automated material handling robot that combines flexibility of operation by a person and convenience of automation technology, to automate the process of positioning when catching or putting a raw fabric roll in a material handling cart. The robot has an omnidirectional mobile capability through a four-wheel drive and steering mechanism by use of a shaft drive transmission system. Semi-automatic delivery system for detect and approach a positioning target will be expected to be implemented in the robot. As a first step, the robot simulation model has been prototyped using Gazebo on ROS environment.