Development of a ROS-Based Mobile Robot Platform
DOI:
https://doi.org/10.24867/15IH02JovanovicKeywords:
Mobile robotics, Robot Operating System, BLDC motors, Motion control, Raspberry Pi controllerAbstract
For development of new mobile robot applications, it is necessary to have a test platform. Various commercial mobile robot platforms are available, but due to high price of even base models, in this work development of a ROS-based (Robot Operating System) mobile robot platform is presented. Skid steer drive is selected actuated with direct drive motor. After development of mechanical construction, motor controller for driving the motors is developed and connected with the main computer.
References
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[2] “The Difference Between AGVs And Mobile Robots - CrossCo.” https://www.crossco.com/resources/articles/the-difference-between-agvs-and-mobile-robots/ (pristupljeno Sep. 13, 2021).
[3] S. Pedre, M. Nitsche, F. Pessacg, J. Caccavelli, P. De Cristóforis, “Design of a multi-purpose low-cost mobile robot for research and education,” Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 8717 LNAI, no. August 2015, pp. 185–196, 2014, doi: 10.1007/978-3-319-10401-0_17.
[4] “ROS.org | Powering the world’s robots.” https://www.ros.org/ (pristupljeno Sep. 13, 2021).
[5] T. Wang, Y. Wu, J. Liang, C. Han, J. Chen, Q. Zhao, “Analysis and experimental kinematics of a skid-steering wheeled robot based on a laser scanner sensor,” Sensors (Switzerland), vol. 15, no. 5, pp. 9681–9702, 2015, doi: 10.3390/s150509681.
[6] “Balance Scooter - Zhejiang Yongkang Sportward Enterprises Co., Ltd. - page 1.” https://zjkaids.en.made-in-china.com/product-group/YMExFzIPvgcr/Balance-Scooter-catalog-1.html (pristupljeno Sep. 14, 2021).
[7] “6.5" Hoverboard HubMotor wheel | 3D CAD Model Library | GrabCAD.” https://grabcad.com/library/6-5-hoverboard-hubmotor-wheel-1 (pristupljeno Sep. 14, 2021).
[8] “What is a Direct Drive motor? - Magnetic Innovations.” https://www.magneticinnovations.com/faq/direct-drive-motor/ (pristupljeno Sep. 14, 2021).
[9] Yedamale Padmaraja, “AN885 Brushless DC (BLDC) Motor Fundamentals,” Microchip Technology Inc.
[10] “Telix.” https://www.telix.rs/sr/ (pristupljeno Sep. 14, 2021).
[11] “BSC028N06NS, Infineon Technologies.” https://www.infineon.com/cms/en/product/power/mosfet/n-channel/bsc028n06ns/ (pristupljeno Sep. 17, 2021).
[12] STMicroeletronics, “Mainstream Performance line, Arm Cortex-M3 MCU with 64 Kbytes of Flash memory, 72 MHz CPU, motor control, USB and CAN, Datasheet,” no. August, pp. 1–117, 2015, [Online]. Available: https://www.st.com/resource/en/datasheet/stm32f103c8.pdf.
[13] “INA240 data sheet, Texas Instruments.” https://www.ti.com/product/INA240 (pristupljeno Sep. 18, 2021).
[14] S. Corrigan, “Introduction to the Controller Area Network (CAN) Application Report SLOA101B,” 2002, Pristupljeno: Sep. 15, 2021. [Online]. Available: www.ti.com.
[15] “Teach, Learn, and Make with Raspberry Pi.” https://www.raspberrypi.org/ (pristupljeno Sep. 15, 2021).
[16] B. Akin, M. Bhardwaj, J. Warriner, “Trapezoidal Control of BLDC Motors Using Hall Effect Sensors,” Texas Instruments, 2011.
[17] ATMEL, “AVR449: Sinusoidal driving of 3-phase permanent magnet motor using ATtiny261,” pp. 1–24.
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Published
2021-12-09
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Section
Mechatronics
