Integration of Differential Wheel Educational Mobile Robot in Robot Operating System

Rajkumar Ayyalusamy, Sundar Ganesh C S

Abstract


This article presents the integration of differential wheeled educational mobile platform build around embedded controller with the Robot Operating System (ROS). Unlike ROS.org listed supported platforms this educational mobile robotic platform uses products from the market makes possible at a very low-cost awakening the engineering nature of students and researchers. A teleoperation of mobile platform is made by creating a serial driver interface in ROS to actuate drive and get encoder tick counts. To validate the system, as the robot navigates it can be visualized in ROS 3D visualization package Rviz. Furthermore, future plan with the mobile platform such as implementation of cost-effective stereo vision and manipulator arm which pave the way for academic research are described


Keywords


Autonomous vehicle, Differential wheel, Odometry, Robot-operating system, Trajectory control.

Full Text:

PDF

References


. ROS. Robots Using ROS. 2014. Available from: http://wiki.ros.org/Robots.

. Quigley B, Gerkey K, Conley J, et al. ROS: an open-source Robot Operating System in Proc. Open-Source Software workshop of the International Conference on Robotics and Automation (ICRA 2009), Kobe, Japan, 2009.

. ROS distributions. ROS Hydro Medusa. Available from: http://wiki.ros.org/hydro.

. Ubuntu distributions. Ubuntu Releases. Available from: https://wiki.ubuntu.com/ Releases.

. Gerkey, Mataric M. Auction methods for multirobot coordination in IEEE Transactions on Robotics and Automation. Special Issue on Multi-robot Systems 2002; 18(5): 758-68.

. Erikson RW, Dragan M. Fundamentals of Power Electronics. Circuits and Systems 2011; 58: 347-52.


Refbacks

  • There are currently no refbacks.