Vše

Co hledáte?

Vše
Projekty
Výsledky výzkumu
Subjekty

Rychlé hledání

  • Projekty podpořené TA ČR
  • Významné projekty
  • Projekty s nejvyšší státní podporou
  • Aktuálně běžící projekty

Chytré vyhledávání

  • Takto najdu konkrétní +slovo
  • Takto z výsledků -slovo zcela vynechám
  • “Takto můžu najít celou frázi”

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

Identifikátory výsledku

  • Kód výsledku v 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>

  • Výsledek na webu

    <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>

Alternativní jazyky

  • Jazyk výsledku

    angličtina

  • Název v původním jazyce

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

  • Popis výsledku v původním jazyce

    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.

  • Název v anglickém jazyce

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

  • Popis výsledku anglicky

    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.

Klasifikace

  • Druh

    J<sub>imp</sub> - Článek v periodiku v databázi Web of Science

  • CEP obor

  • OECD FORD obor

    20204 - Robotics and automatic control

Návaznosti výsledku

  • Projekt

  • Návaznosti

    S - Specificky vyzkum na vysokych skolach

Ostatní

  • Rok uplatnění

    2018

  • Kód důvěrnosti údajů

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

Údaje specifické pro druh výsledku

  • Název periodika

    Advances in Electrical and Electronic Engineering

  • ISSN

    1336-1376

  • e-ISSN

    1804-3119

  • Svazek periodika

    16

  • Číslo periodika v rámci svazku

    2

  • Stát vydavatele periodika

    CZ - Česká republika

  • Počet stran výsledku

    6

  • Strana od-do

    199-204

  • Kód UT WoS článku

    000436153200007

  • EID výsledku v databázi Scopus

    2-s2.0-85048951467