Mecanum wheel mobile platform for rapid prototyping of the autonomous control algorithms
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Mecanum wheel mobile platform for rapid prototyping of the autonomous control algorithms
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
Mecanum wheel mobile platform for rapid prototyping of the autonomous control algorithms
Popis výsledku anglicky
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.
Klasifikace
Druh
D - Stať ve sborníku
CEP obor
—
OECD FORD obor
20204 - Robotics and automatic control
Návaznosti výsledku
Projekt
—
Návaznosti
S - Specificky vyzkum na vysokych skolach
Ostatní
Rok uplatnění
2024
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název statě ve sborníku
IFAC-PapersOnLine. Volume 58, Issue 9
ISBN
—
ISSN
2405-8963
e-ISSN
2405-8963
Počet stran výsledku
6
Strana od-do
183-188
Název nakladatele
Publish by Elsevier B.V.
Místo vydání
Oxford
Místo konání akce
Brno
Datum konání akce
19. 6. 2024
Typ akce podle státní příslušnosti
WRD - Celosvětová akce
Kód UT WoS článku
001296083700032