Research of origami robot ROS-based SLAM and autonomous navigation

In this paper, a new water-bomb wheel modeling method is proposed. Based on the water-bomb wheel model, an expandable robot with a multi-link support structure and water-bomb structure is designed and manufactured. A parameterized kinematics solution method is proposed for this variable-diameter wheel robot, which enables the robot to obtain highly reliable odometer information by fusing encoder and IMU information in all states. Based on the parameterized kinematics solution method, SLAM and autonomous navigation system were implemented using the ROS robot operating system as the software platform, and simulation experiments and physical prototype experiments were carried out.