Autonomous Warehouse Management Robot

Overview: This project focuses on developing an autonomous warehouse management robot designed to enhance efficiency in package handling through automated transport, manipulation, and navigation. The system integrates a four-wheeled differential drive base with a 5-degree-of-freedom (DOF) robotic arm, controlled using ROS Nav2, teleoperation, and inverse kinematics. The robot also features LiDAR-based perception for environment mapping, making it a scalable and adaptive solution for modern logistics.

Video Presentation

Key Features:

• Differential Drive Base: Four-wheeled system for precise maneuverability within warehouse environments. ROS-based teleoperation for manual control and pre-programmed automation.
• 5-DOF Robotic Arm for Package Handling: Inverse kinematics-based movement for efficient object grasping and placement. Lightweight CAD-optimized design for enhanced structural efficiency.
• ROS-Based Control & Perception: Custom ROS nodes for seamless real-time motion control using Nav2. LiDAR integration for environment perception and mapping.
• Gazebo & RViz Simulation: 3D visualization and kinematic validation of robot motion. Pick-and-place task execution tested in Gazebo before deployment.
• Navigation Stack: Utilization of the ROS Navigation Stack to enable autonomous navigation capabilities in the environment.
• Sensors Integration: Integration of various sensors, such as LiDAR and cameras, for robust perception.

Results & Impact

Efficient package handling through precise end-effector motion planning. Validated forward and inverse kinematics using MATLAB and RoboAnalyzer. Seamless LiDAR-based mapping for enhanced perception and future autonomous navigation. Reduced manual effort in warehouses, improving logistics and workflow efficiency.

Technologies Used:

• Robot Control: ROS, Nav2, Gazebo, RViz, Python
• Kinematics & Simulation: MATLAB Robotics Toolbox, RoboAnalyzer
• Sensors & Perception: LiDAR, Odometry, Camera
• Hardware Design: SolidWorks, URDF for ROS integration

This modular and scalable warehouse automation solution demonstrates the future of robotics-driven logistics, optimizing package handling with intelligent control and real-time perception.