{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,30]],"date-time":"2025-12-30T15:44:43Z","timestamp":1767109483824,"version":"3.41.0"},"reference-count":24,"publisher":"ASTM International","issue":"2","content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,3,1]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n               <jats:p>Mobile robotics is a rapidly expanding field of research because of its large number of applications. Autonomous mobile robots (AMRs) are used in multiple areas, such as industrial automation, logistics and warehouse management, museums, hospitals and restaurant assistance, space and ocean exploration, and many others. In this work, a navigation system for a low-cost mobile robot is proposed. It relies on state-of-the-art software suited for designing automated systems, robot applications, and computer vision algorithms. The robot is driven by two wheels powered by Beckhoff motors, controlled using Beckhoff\u2019s TwinCAT 3 automation software in an industrial computer. A separate small-sized Raspberry Pi computer handles the environment perception by processing the information acquired by a Lidar module and a webcam and the localization and planning through the Robot Operating System (ROS). Communication between the two computers yields a complete robot navigation system. This system is tested and subsequently tuned to achieve good performance. Experimental tests show that the navigation system is globally effective, and some limitations related to the robot\u2019s design and its navigation subsystem are discussed. The approach proposed in this work can be extended, adjusted, and used in other types of mobile robots.<\/jats:p>","DOI":"10.1520\/jte20230191","type":"journal-article","created":{"date-parts":[[2024,1,19]],"date-time":"2024-01-19T06:11:21Z","timestamp":1705644681000},"page":"841-852","update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":6,"title":["Autonomous Navigation System for a Differential Drive Mobile Robot"],"prefix":"10.1520","volume":"52","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9027-0992","authenticated-orcid":false,"given":"Miguel A.","family":"Ferreira","sequence":"first","affiliation":[{"name":"Departamento de Engenharia Mec\u00e2nica, Faculdade de Engenharia (FEUP), Universidade do Porto 1 , Rua Dr. Roberto Frias, 4200-465 Porto ,","place":["Portugal"]}]},{"given":"Lu\u00eds C.","family":"Moreira","sequence":"additional","affiliation":[{"name":"Instituto de Ci\u00eancia e Inova\u00e7\u00e3o em Engenharia Mec\u00e2nica e Engenharia Industrial (INEGI) 2 , Rua Dr. Roberto Frias, 4200-465 Porto ,","place":["Portugal"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7359-4370","authenticated-orcid":false,"given":"Ant\u00f3nio M.","family":"Lopes","sequence":"additional","affiliation":[{"name":"Departamento de Engenharia Mec\u00e2nica, Faculdade de Engenharia (FEUP), Universidade do Porto 1 , Rua Dr. Roberto Frias, 4200-465 Porto ,","place":["Portugal"]},{"name":"Instituto de Ci\u00eancia e Inova\u00e7\u00e3o em Engenharia Mec\u00e2nica e Engenharia Industrial (INEGI) 3 , Rua Dr. Roberto Frias, 4200-465 Porto ,","place":["Portugal"]}]}],"member":"381","published-online":{"date-parts":[[2024,1,23]]},"reference":[{"volume-title":"Introduction to Autonomous Mobile Robots","year":"2011","key":"2025062723162677600_B1"},{"volume-title":"Mobile Robotics: A Practical 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