Four-Wheel Mecanum AMR Autonomous Navigation

For a four-wheel mecanum AMR, I integrated wheel odometry, an IMU and LiDAR using ROS2 to implement SLAM mapping, AMCL localization and NAV2 path planning.

1.My role

The project ran from July 2023 to July 2024. As project lead, I was responsible for control and navigation development.

2.Implementation

I integrated wheel odometry, an IMU and LiDAR into the ROS2 navigation workflow, combining SLAM, AMCL and NAV2 for mapping, localization and path planning.

3.Results

I completed the autonomous navigation system and Gazebo / RViz2 simulation and debugging workflow, connecting robot control, sensor fusion and navigation.