Design and Development of an Autonomous Inspection Robot System Based on ROS

In this paper, we present an inspection system for power plant environments. The system consists of two main parts: a robot system and a control platform. The control platform serves as the central hub for monitoring and controlling the robot's operations remotely. The robot system, which is the main focus of this paper, has three core components: a Mapping Subsystem, a Navigation Subsystem, and a WEB API service. The Mapping Subsystem enables Simultaneous Localization and Mapping (SLAM) capabilities, which allow the robot to construct maps and estimate its pose simultaneously. The Navigation Subsystem provides autonomous localization, navigation, and obstacle avoidance for the robot while it's moving. The WEB API service encapsulates the functions and resources of the robot system, allowing it to be controlled and monitored through the control platform. Moreover, to improve the localization accuracy of the robot during motion, we have introduced AprilTag localization and multi-sensor fusion at the robot's start-up and movement stages.