Mecanum wheel mobile platform for rapid prototyping of the autonomous control algorithms
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F24%3A10256364" target="_blank" >RIV/61989100:27240/24:10256364 - isvavai.cz</a>
Result on the web
<a href="https://www.sciencedirect.com/science/article/pii/S2405896324004828?pes=vor&utm_source=scopus&getft_integrator=scopus" target="_blank" >https://www.sciencedirect.com/science/article/pii/S2405896324004828?pes=vor&utm_source=scopus&getft_integrator=scopus</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2024.07.393" target="_blank" >10.1016/j.ifacol.2024.07.393</a>
Alternative languages
Result language
angličtina
Original language name
Mecanum wheel mobile platform for rapid prototyping of the autonomous control algorithms
Original language description
This article describes the author's design of the Mecanum wheel mobile robots (MWR), which can be used as a test platform for experimental research into the development and implementation of autonomous systems. The paper contains a literature review of the subject matter and describes the mechanical actuator subsystem and electronic and information subsystem of the mobile robot solution. The robot was navigated using a minicomputer equipped with a Jetson Nano chip. The robot's navigation system was implemented using the ROS environment through high-level software. Software modularity is desirable in circuits intended for research and rapid prototyping. This allows for easier modification and maintenance. The microcontroller has been implemented with a DC drive control system and incremental encoder support to estimate robot position using odometry. The project utilizes the Jetson Nano for processing data from distance sensors and monitoring the robot's performance. The mobile platform is equipped with a RGB-D camera (Microsoft Kinect 360), the robot can use this to perform 3D mapping of the environment. A LiDAR sensor is used to collect data from a two-dimensional space. Laboratory tests were carried out to test the validity of the solutions adopted in the design of the Mecanum-wheeled mobile robot's navigation system configuration.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IFAC-PapersOnLine. Volume 58, Issue 9
ISBN
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ISSN
2405-8963
e-ISSN
2405-8963
Number of pages
6
Pages from-to
183-188
Publisher name
Publish by Elsevier B.V.
Place of publication
Oxford
Event location
Brno
Event date
Jun 19, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001296083700032