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Mobile Robotics Teaching Using Arduino and ROS R. Vilches, I. Martínez, M. L. González, Crespo, J. and Barber, R. RoboticsLab. Systems Engineering and.

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Presentation on theme: "Mobile Robotics Teaching Using Arduino and ROS R. Vilches, I. Martínez, M. L. González, Crespo, J. and Barber, R. RoboticsLab. Systems Engineering and."— Presentation transcript:

1 Mobile Robotics Teaching Using Arduino and ROS R. Vilches, I. Martínez, M. L. González, Crespo, J. and Barber, R. RoboticsLab. Systems Engineering and Automation Department. 7th International Conference of Education, Research and Innovation. ICERI (Seville - 17th-19th November 2014)

2 Universidad Carlos III de Madrid Contents 1.Introduction and Objectives 2.Robotic platform: Hardware Components 3.Robotic platform: Software Components 4.Control Architecture 5.Experimental Results 6.Conclusions and Future Work

3 Universidad Carlos III de Madrid Contents 1.Introduction and Objectives 2.Robotic platform: Hardware Components 3.Robotic platform: Software Components 4.Control Architecture 5.Experimental Results 6.Conclusions and Future Work

4 Universidad Carlos III de Madrid 1. Introduction and Objectives Develop a low cost platform designed for mobile robotics teaching. Provide a sensor platform with environmental modeling capability. Test map generation for robot navigation.

5 Universidad Carlos III de Madrid 1. Introduction and Objectives Build a mobile robot with wheel differential system based on Arduino. Communicate remotely through ROS nodes. Get a map of the environment using OpenCV libraries.

6 Universidad Carlos III de Madrid Contents 1.Introduction and Objectives 2.Robotic platform: Hardware Components 3.Robotic platform: Software Components 4.Control Architecture 5.Experimental Results 6.Conclusions and Future Work

7 Universidad Carlos III de Madrid 2. Robotic Platform: Hardware Micro servo-motor TowerPro SG90 3-Axis magnetometer HMC5883L 2 infrared sensors SHARP GP2D12 2 DC motors

8 Universidad Carlos III de Madrid 2. Robotic Platform: Hardware Battery and switch Encoders and H-bridge regulator Arduino Mega 2560 (16MHz, 256KB) Mega SensorShield V1.0

9 Universidad Carlos III de Madrid Contents 1.Introduction and Objectives 2.Robotic platform: Hardware Components 3.Robotic platform: Software Components 4.Control Architecture 5.Experimental Results 6.Conclusions and Future Work

10 Universidad Carlos III de Madrid 3. Robotic Platform: Software Arduino platform (hardware and software): Open: Great community Flexible: Multiple Applications Easy to use: Based Programming C / C ++ Low processing power and memory

11 Universidad Carlos III de Madrid 3. Robotic Platform: Software ROS: Robotic Operating System: Distributed: Graph architecture Nodes: Publishing and subscribing to messages Services Packages

12 Universidad Carlos III de Madrid Contents 1.Introduction and Objectives 2.Robotic platform: Hardware Components 3.Robotic platform: Software Components 4.Control Architecture 5.Experimental Results 6.Conclusions and Future Work

13 Universidad Carlos III de Madrid 4. Control Architecture Global architecture scheme

14 Universidad Carlos III de Madrid 4. Control Architecture PC - ROS: Serial Node Map Node Position Callback irLecture Callback Wander Node Service Callback

15 Universidad Carlos III de Madrid 4. Control Architecture Arduino: ROS HMC5883L Encoder Move

16 Universidad Carlos III de Madrid 4. Control Architecture Main functionality flow diagram Loop tasks flow diagram

17 Universidad Carlos III de Madrid 4. Control Architecture Environment scanning flow diagram (makeDistance):

18 Universidad Carlos III de Madrid 4. Control Architecture Mapping routine flow diagram (mappingRoutine):

19 Universidad Carlos III de Madrid 4. Control Architecture Translation flow diagram (makeMove):

20 Universidad Carlos III de Madrid Contents 1.Introduction and Objectives 2.Robotic platform: Hardware Components 3.Robotic platform: Software Components 4.Control Architecture 5.Experimental Results 6.Conclusions and Future Work

21 Universidad Carlos III de Madrid 5. Experimental Results Map Node – IrLecture Depiction Robot Obstacles

22 Universidad Carlos III de Madrid ROS & Arduino ROS architecture working. Nodes: Serial + Map+ Wander Arduino management 5. Experimental Results

23 Universidad Carlos III de Madrid 5. Experimental Results Field tests Mapping a corridor IR Reading errors Solution: Obtain the median from multiple readings Increase the thickness of the lines  Fix errors quickly

24 Universidad Carlos III de Madrid 5. Experimental Results Field tests (II) Creation of a specific stage The longer the mapping lasts: The bigger the error can be accumulated. The better the resulting depiction (debugging)

25 Universidad Carlos III de Madrid 5. Experimental Results Field tests (III) Mapping a home hallway: Consistent result Long time scanning

26 Universidad Carlos III de Madrid Contents 1.Introduction and Objectives 2.Robotic platform: Hardware Components 3.Robotic platform: Software Components 4.Control Architecture 5.Experimental Results 6.Conclusions and Future Work

27 Universidad Carlos III de Madrid 6. Conclusions and future work Result of a user-friendly robotics platform approach to teaching. Joint use of Arduino and ROS. Achieve map generation and autonomous robot navigation.

28 Universidad Carlos III de Madrid 6. Conclusions and future work Hardware: Bluetooth connection. Ultrasonic sensor. Robotic applications: Mapping SLAM Other navigation applications

29 Mobile Robotics Teaching Using Arduino and ROS R. Vilches, I. Martínez, M. L. González, J. Crespo, and R. Barber RoboticsLab. Systems Engineering and Automation Department. 7th International Conference of Education, Research and Innovation. ICERI (Seville - 17th-19th November 2014)


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