Motion Planning and Control of Social Mobile Robot - Part 1. Robot Hardware Architecture and Description of Navigation System
Authors:
- Marcin Słomiany
Abstract
This two-part paper is concerned with the problem of motion planning and control of PIAP IRYS social robot mobile platform, which is the adapted NOMAD 200 robot. In the first part of the work the developed hardware and software architectures of the research object, as well as its kinematic structure are described. The robot consists of two independent components: (1) a head with a trunk and (2) a mobile platform. As the mobile platform the modernized version of NOMAD 200 robot with synchronously driven and steered wheels was used. The mobile platform was equipped among others with modern low-level miControl motor controllers and a high-level controller working under GNU/Linux operating system with Robot Operating System framework. Kinematics of the three-wheeled robot is discussed and software architecture including ROS-based navigation system is described.
- Record ID
- WUT47d3e79b0ad94f64b65148d84cc52cad
- Author
- Pages
- 513-523
- Publication size in sheets
- 0.50
- Book
- Szewczyk Roman*, Roman Szewczyk Zieliński Cezary, Cezary Zieliński Kaliczyńska Małgorzata Małgorzata Kaliczyńska (eds.): Automation 2019: Progress in Automation, Robotics and Measurement Techniques, Advances in Intelligent Systems and Computing, vol. 920, 2020, Cham, Switzerland, Springer, 727 p., ISBN 978-3-030-13272-9. DOI:10.1007/978-3-030-13273-6 Opening in a new tab
- Keywords in English
- Hardware architecture, Software architecture, Wheeled mobile robot, Social robot, Motion planning, Robot Operating System
- DOI
- DOI:10.1007/978-3-030-13273-6_48 Opening in a new tab
- URL
- https://link.springer.com/chapter/10.1007/978-3-030-13273-6_48 Opening in a new tab
- Language
- (en) English
- Score (nominal)
- 20
- Score source
- publisherList
- Score
- = 20.0, 05-05-2022, ChapterFromConference
- Publication indicators
- = 1
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- Uniform Resource Identifier
- https://repo.pw.edu.pl/info/article/WUT47d3e79b0ad94f64b65148d84cc52cad/
- URN
urn:pw-repo:WUT47d3e79b0ad94f64b65148d84cc52cad
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or PerishOpening in a new tab system.