Autonomous Navigation Vehicle (GAMYA Robot) - A Cost Effective ROS Based Platform for Real Time Mapping and Obstacle Avoidance

Abstract—This paper presents GAMYA, a cost-effective autonomous navigation vehicle developed using the Robot Operating System 2 (ROS2) framework. The system integrates a Raspberry Pi 4 as the central processing unit, an Arduino Uno R3 for motor control, and a 2D LiDAR sensor for environmental perception. GAMYA is designed to perform real-time mapping, localization, and obstacle avoidance through the implementation of the ROS2 Navigation2 stack and SLAM Toolbox. A differential drive mechanism is employed, and odometry is computed using encoder feedback to support accurate navigation. The system is tested in a simulated environment using Gazebo, where it successfully navigates dynamic and static obstacles. Results demonstrate reliable autonomous performance with minimal latency, showcasing the potential of using low-cost components to develop robust robotic platforms suitable for academic and research applications. Keywords—Autonomous Navigation, ROS2, LiDAR, SLAM, Gazebo Simulation, obstacle avoidance, Raspberry Pi, Arduino, Mobile Robot