1.

Introduction

1.1. Purpose

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1.2. Scope

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1.3. Organization of the Report

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2. Background

2.1.
3. Path Planning System

3.1.
4. The Mobile Robot Simulation

4.1. System Overview

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4.1.1. Simulation Model

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4.1.2. Mapper Node

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4.1.3. Path Planner Node

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4.1.4. Conversion Path to Vector Speed Node

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4.1.5. Kinematic Node

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5. The Mobile Robot

5.1. System Overview

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5.1.1. Software

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5.1.1.1. Robot Operating System

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5.1.2. Hardware
6. Result

6.1.
7. Conclusion