Goal of the Project
The ultimate objective was to demonstrate how a small mobile robot can navigate independently in a structured environment by combining software, hardware, and system-level thinking.
Problem Definition
This project enables the LIMO mobile robot to autonomously navigate a structured indoor arena using ROS 1 Melodic. The main challenge was configuring and integrating onboard sensors with the ROS navigation stack for reliable localization, path planning, and obstacle avoidance. A systems engineering approach was applied to develop and integrate the navigation program into the robot, ensuring consistent performance in the test environment.
Mobile Robot: AgileX LIMO
The AgileX LIMO is a versatile, four-wheeled mobile robot platform designed for indoor navigation and autonomous operations. It features integrated sensors and is compatible with ROS (Robot Operating System), making it ideal for research and development in robotics, including localization, path planning, and obstacle avoidance tasks.
The AgileX LIMO is the current robot model used in our project.
Robot Test Arena – Canopy Park Theme
The arena serves as a controlled and repeatable test environment designed to evaluate the LIMO robot’s autonomous navigation performance. Built around the “Jewel Canopy Park” theme, it provides structured obstacles and pathways to assess localization, path planning, and obstacle avoidance.
My team and I designed and developed the arena layout for the robot’s navigation. The arena was constructed following the project theme, “Jewel Canopy Park.”