iii

TABLE OF CONTENTS
PAGE
ACKNOWLEDGEMENT i
ABSTRACT ii
TABLE OF CONTENTS iii
LIST OF FIGURES v

CHAPTER TITLE
1 INTRODUCTION 1
1.1 Introduction to ROS-Mobile Robot 1
1.2 Overall System of the Whole Project 3
1.3 Aim and Objectives 4
1.4 Implementation of Thesis 5
1.5 Outline of Thesis 5
2 THEORY BACKGROUBD OF THE SYSTEM 7
2.1 Types of Robots 7
2.1.1 Mobile Robots 7
2.1.2 Stationary Robots 7
2.1.3 Autonomous Robots 8
2.1.4 Remote-controlled Robots 8
2.1.5 Virtual Robots 9
2.2 Types of Mobile Robots 9
2.2.1 Manual Remote or Tele-op 10
2.2.2 Guarded Tele-op 11
2.2.3 Sliding Autonomy (Robotic mapping) 11
2.2.4 Line-Follower Robot 11
2.2.5 Autonomously Guided Robot 12
2.2.6 Chefbot Autonomous Mobile Robot 13
2.3 Theory Background of Robot Operation System 14
3 PROGRAM LANGUAGE USAGE OF THE SYSTEM 17
3.1 Overview of Robot Operation System 17
3.2 Overview of C++ 19
3.2.1 Introduction and Overview 19
3.2.2 The History of C++ 20
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3.2.3 The Design and Evolution of C++ 21

3.2.4 Aim of C++ 22
3.3 Overview of Python 22
3.3.1 Introduction to Python 23
3.3.2 History of Python 23
3.3.3 Aim of Python 25
3.4 Overview of XML (Extensible Markup Language) 28
3.4.1 Introduction to XML (Extensible Markup Language) 28
4 SOTWARE IMPLEMENTATION OF THE SYSTEM 30
4.1 Software Implementation of the System 30
4.1.1 Overall Flowchart of the Proposed System 30
4.1.2 Flowchart of “driver.lunch” 34
4.1.3 Flowchart of “twist.lunch” 34
4.2 Software Description of the Proposed System 35
4.2.1 Declaration of the Sketch 36
5 EXPERIMENTAL RESULT OF THE SYSTEM 38
5.1 Experimental Result of the Proposed System 38
5.2 Program Writing of Proposed System 41
6 DISCUSSION AND CONCLUSION 42
6.1 Discussion of Mobile Robot System 42
6.2 Advantages and Disadvantages of the Proposed System 42
6.3 Conclusion of the Proposed System 44
6.4 Further Extensions of the Proposed System 44
REFERENCES 45
APPENDIX 46