Design of an Open Hardware Bridge Between Robots and ROS / non-ROS Environments

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F60162694%3AG43__%2F18%3A00534701" target="_blank" >RIV/60162694:G43__/18:00534701 - isvavai.cz</a>

Result on the web

<a href="http://advances.utc.sk/index.php/AEEE/article/view/2439" target="_blank" >http://advances.utc.sk/index.php/AEEE/article/view/2439</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.15598/aeee.v16i2.2439" target="_blank" >10.15598/aeee.v16i2.2439</a>

Result language

angličtina

Original language name

Design of an Open Hardware Bridge Between Robots and ROS / non-ROS Environments

Original language description

To be able to use robots of the same type in a swarm (in this case differential-drive robots) from a centralized computer, you need to control them in the same way even if the robots come from different manufacturers. These robots should have the same capabilities: i.e. the same type of sensors and the same type of control commands. Currently, if we need to add sensors on a robot, we should first find out what are the hardware capabilities and what are the tools provided by the manufacturer (some have microcontrollers, others have ARM processors). The protocol to communicate with the onboard card (often a serial protocol) is different for each robot and we have to take that in account in our software so that the robots can be interchangeable. This paper describes the design and the results of using a standard interface (bridge) on a robot which allows wireless communication with a centralized computer and local serial communication with a mobile robot. On this interface, we can connect every sensor we want (infrared, ultrasound, laser, Kinect etc.) and we can always use the same tools to control them. Extension of the protocol of the Kobuki base (TurtleBot 2) is proposed to be able to use the same type of frame as the TurtleBot 2 uses and to continue to use ROS middleware as is, but with the possibility to use data from new sensors implemented on the bridge. This article will focus on the use of the TurtleBot 2, but the same bridge will be adapted to other robots allowing their interchangeability in the future.

Czech name

—

Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20204 - Robotics and automatic control

Project

—

Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2018

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Advances in Electrical and Electronic Engineering

ISSN

1336-1376

e-ISSN

1804-3119

Volume of the periodical

16

Issue of the periodical within the volume

2

Country of publishing house

CZ - CZECH REPUBLIC

Number of pages

6

Pages from-to

199-204

UT code for WoS article

000436153200007

EID of the result in the Scopus database

2-s2.0-85048951467