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