Desarrollo de un robot móvil compacto integrado en el middleware ROS

Araújo, André; Portugal, David; Couceiro, Micael S.; Sales, Jorge; Rocha, Rui P.

doi:10.1016/j.riai.2014.02.009

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Resumen

En este trabajo se presenta el robot TraxBot y su integración completa en el Robot Operating System (ROS). El TraxBot es una plataforma de robótica móvil, desarrollada y ensamblada en el Instituto de Sistemas y Robótica (ISR) Coimbra. El objetivo de este trabajo es reducir drásticamente el tiempo de desarrollo, proporcionando abstracción de hardware y modos de operación intuitiva, permitiendo a los investigadores centrarse en sus motivaciones principales de investigación, por ejemplo, la búsqueda y rescate con múltiples robots o robótica de enjambres. Se describen las potencialidades del TraxBot, que combinado con un controlador de ROS específicamente desarrollado, facilita el uso de varias herramientas para el análisis de datos y la interacción entre múltiples robots, sensores y dispositivos de teleoperación. Para validar el sistema, se llevaron a cabo diversas pruebas experimentales utilizando robots reales y virtuales.

Palabras clave:

ROS

robot móvil

sistemas embebidos

diseño

middleware

montaje y test.

Abstract

This paper presents the TraxBot robot and its full integration in the Robotic Operating System (ROS). The TraxBot is a compact mobile robotic platform developed and assembled at the Institute of Systems and Robots (ISR) Coimbra. The goal in this work is to drastically decrease the development time, providing hardware abstraction and intuitive operation modes, allowing researchers to focus in their main research motivations, e.g., search and rescue, multi-robot surveillance or swarm robotics. The potentialities of the TraxBot are described which, combined with the ROS driver developed, provide several tools for data analysis and easiness of interaction between multiple robots, sensors and tele-operation devices. To validate the approach, diverse experimental tests using real and virtual simulated robots were conducted.

Keywords:

ROS

mobile robot

Arduino

embedded system

design

assembling and testing.

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Referencias no citadas

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