Omni-Directional Mobile Robot Control using Raspberry Pi and Jetson Nano

This paper describes a process of designing a low-cost robot that moves omni-directionally that capable
of detecting simple objects around it while moving. The robot uses three DC motors with encoder as feedback. The
overall movement control is done by a Raspberry Pi that is embedded into the robot. It also uses ROS (Robotic
Operating System) as the framework. To detect certain objects, the robot is equipped with an infrared sensor for
measuring the object distance, and a camera for capturing the image of the object that will be processed by a Nvidia
Jetson Nano. By using inverse kinematics and odometry calculations, the robot can move smoothly with error at
about 9.5% on the x-axis and 8.1% on the y-axis, measured at the robots final position. The robot can detect objects
using infrared sensors reliably with error at about 0.87%, however, it cannot measure the object size precisely due
to various factors.