Mobile Robotics Teaching Using Arduino and ROS R

  • Slides: 29
Download presentation
Mobile Robotics Teaching Using Arduino and ROS R. Vilches, I. Martínez, M. L. González,

Mobile Robotics Teaching Using Arduino and ROS R. Vilches, I. Martínez, M. L. González, Crespo, J. and Barber, R. Robotics. Lab. Systems Engineering and Automation Department. 7 th International Conference of Education, Research and Innovation. ICERI 2014. (Seville - 17 th-19 th November 2014)

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software Components 4. Control Architecture 5. Experimental Results 6. Conclusions and Future Work Universidad Carlos III de Madrid

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software Components 4. Control Architecture 5. Experimental Results 6. Conclusions and Future Work Universidad Carlos III de Madrid

1. Introduction and Objectives • Develop a low cost platform designed for mobile robotics

1. Introduction and Objectives • Develop a low cost platform designed for mobile robotics teaching. • Provide a sensor platform with environmental modeling capability. • Test map generation for robot navigation. Universidad Carlos III de Madrid

1. Introduction and Objectives • Build a mobile robot with wheel differential system based

1. Introduction and Objectives • Build a mobile robot with wheel differential system based on Arduino. • Communicate remotely through ROS nodes. • Get a map of the environment using Open. CV libraries. Universidad Carlos III de Madrid

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software Components 4. Control Architecture 5. Experimental Results 6. Conclusions and Future Work Universidad Carlos III de Madrid

2. Robotic Platform: Hardware • Micro servo-motor Tower. Pro SG 90 • 3 -Axis

2. Robotic Platform: Hardware • Micro servo-motor Tower. Pro SG 90 • 3 -Axis magnetometer HMC 5883 L • 2 infrared sensors SHARP GP 2 D 12 • 2 DC motors Universidad Carlos III de Madrid

2. Robotic Platform: Hardware • Battery and switch • Encoders and H-bridge regulator •

2. Robotic Platform: Hardware • Battery and switch • Encoders and H-bridge regulator • Arduino Mega 2560 (16 MHz, 256 KB) • Mega Sensor. Shield V 1. 0 Universidad Carlos III de Madrid

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software Components 4. Control Architecture 5. Experimental Results 6. Conclusions and Future Work Universidad Carlos III de Madrid

3. Robotic Platform: Software • Arduino platform (hardware and software): • Open: Great community

3. Robotic Platform: Software • Arduino platform (hardware and software): • Open: Great community • Flexible: Multiple Applications • Easy to use: Based Programming C / C ++ • Low processing power and memory Universidad Carlos III de Madrid

3. Robotic Platform: Software • ROS: Robotic Operating System: • Distributed: Graph architecture •

3. Robotic Platform: Software • ROS: Robotic Operating System: • Distributed: Graph architecture • Nodes: • Publishing and subscribing to messages • Services • Packages Universidad Carlos III de Madrid

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software Components 4. Control Architecture 5. Experimental Results 6. Conclusions and Future Work Universidad Carlos III de Madrid

4. Control Architecture • Global architecture scheme Universidad Carlos III de Madrid

4. Control Architecture • Global architecture scheme Universidad Carlos III de Madrid

4. Control Architecture • PC - ROS: • Serial Node • Map Node •

4. Control Architecture • PC - ROS: • Serial Node • Map Node • Position Callback • ir. Lecture Callback • Wander Node • Service Callback Universidad Carlos III de Madrid

4. Control Architecture • Arduino: • ROS • Encoder • HMC 5883 L •

4. Control Architecture • Arduino: • ROS • Encoder • HMC 5883 L • Move Universidad Carlos III de Madrid

4. Control Architecture • Main functionality flow diagram • Loop tasks flow diagram Universidad

4. Control Architecture • Main functionality flow diagram • Loop tasks flow diagram Universidad Carlos III de Madrid

4. Control Architecture • Environment scanning flow diagram (make. Distance): Universidad Carlos III de

4. Control Architecture • Environment scanning flow diagram (make. Distance): Universidad Carlos III de Madrid

4. Control Architecture • Mapping routine flow diagram (mapping. Routine): Universidad Carlos III de

4. Control Architecture • Mapping routine flow diagram (mapping. Routine): Universidad Carlos III de Madrid

4. Control Architecture • Translation flow diagram (make. Move): Universidad Carlos III de Madrid

4. Control Architecture • Translation flow diagram (make. Move): Universidad Carlos III de Madrid

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software Components 4. Control Architecture 5. Experimental Results 6. Conclusions and Future Work Universidad Carlos III de Madrid

5. Experimental Results • Map Node – Ir. Lecture • Depiction • Robot Universidad

5. Experimental Results • Map Node – Ir. Lecture • Depiction • Robot Universidad Carlos III de Madrid • Obstacles

5. Experimental Results • ROS & Arduino • ROS architecture working. • Nodes: Serial

5. Experimental Results • ROS & Arduino • ROS architecture working. • Nodes: Serial + Map+ Wander • Arduino management Universidad Carlos III de Madrid

5. Experimental Results • Field tests • Mapping a corridor • IR Reading errors

5. Experimental Results • Field tests • Mapping a corridor • IR Reading errors • Solution: • Obtain the median from multiple readings • Increase thickness of the lines Fix errors quickly Universidad Carlos III de Madrid

5. Experimental Results • Field tests (II) • Creation of a specific stage •

5. Experimental Results • Field tests (II) • Creation of a specific stage • The longer the mapping lasts: • The bigger the error can be accumulated. • The better the resulting depiction (debugging) Universidad Carlos III de Madrid

5. Experimental Results • Field tests (III) • Mapping a home hallway: • Consistent

5. Experimental Results • Field tests (III) • Mapping a home hallway: • Consistent result • Long time scanning Universidad Carlos III de Madrid

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software

Contents 1. Introduction and Objectives 2. Robotic platform: Hardware Components 3. Robotic platform: Software Components 4. Control Architecture 5. Experimental Results 6. Conclusions and Future Work Universidad Carlos III de Madrid

6. Conclusions and future work • Result of a user-friendly robotics platform approach to

6. Conclusions and future work • Result of a user-friendly robotics platform approach to teaching. • Joint use of Arduino and ROS. • Achieve map generation and autonomous robot navigation. Universidad Carlos III de Madrid

6. Conclusions and future work • Hardware: • Bluetooth connection. • Ultrasonic sensor. •

6. Conclusions and future work • Hardware: • Bluetooth connection. • Ultrasonic sensor. • Robotic applications: • Mapping • SLAM • Other navigation applications Universidad Carlos III de Madrid

Mobile Robotics Teaching Using Arduino and ROS R. Vilches, I. Martínez, M. L. González,

Mobile Robotics Teaching Using Arduino and ROS R. Vilches, I. Martínez, M. L. González, J. Crespo, and R. Barber Robotics. Lab. Systems Engineering and Automation Department. 7 th International Conference of Education, Research and Innovation. ICERI 2014. (Seville - 17 th-19 th November 2014)