About this paper

Appears in:
Pages: 8031-8039
Publication year: 2015
ISBN: 978-84-608-2657-6
ISSN: 2340-1095

Conference name: 8th International Conference of Education, Research and Innovation
Dates: 18-20 November, 2015
Location: Seville, Spain

A ROS-BASED MIDDLE-COST ROBOTIC PLATFORM WITH HIGH-PERFORMANCE

C. Gómez, A. Hernandez, J. Crespo, R. Barber

University Carlos III of Madrid (SPAIN)
“Home-made” mobile robotic platforms used for teaching robotics are mainly focused on Arduino microcontrollers which give limited functionality and processing in favour of its low cost. In this paper, a new more powerful solution is proposed. This work is focused in the design and development of a high performance robotic platform with medium cost. The main aim of the project is to develop a multisensorial platform capable of navigating in the environment in order to reach a target without colliding and generating a map.

The developed robot is expected to be much more powerful that “home-made” robots using Arduino and to have similar specifications to Turtlebot platform. This high-processing capabilities are reached thanks to a tiny on-board Single Board Computer in the robot. This mobile robot is designed in differential configuration over a circular platform and controlled using odometry and a depth sensor. All the information is transmitted using the firmware ROS (Robot Operating System), which provides many functionalities thanks to the open-software community behind it as well as easy-integration with self-programmed nodes.

Finally, regarding the experimental results of the project, the platform has been built and tested in several environments generating a 2D map. Based on the results, very positive conclusion can be obtained.
@InProceedings{GOMEZ2015ARO,
author = {G{\'{o}}mez, C. and Hernandez, A. and Crespo, J. and Barber, R.},
title = {A ROS-BASED MIDDLE-COST ROBOTIC PLATFORM WITH HIGH-PERFORMANCE},
series = {8th International Conference of Education, Research and Innovation},
booktitle = {ICERI2015 Proceedings},
isbn = {978-84-608-2657-6},
issn = {2340-1095},
publisher = {IATED},
location = {Seville, Spain},
month = {18-20 November, 2015},
year = {2015},
pages = {8031-8039}}
TY - CONF
AU - C. Gómez AU - A. Hernandez AU - J. Crespo AU - R. Barber
TI - A ROS-BASED MIDDLE-COST ROBOTIC PLATFORM WITH HIGH-PERFORMANCE
SN - 978-84-608-2657-6/2340-1095
PY - 2015
Y1 - 18-20 November, 2015
CI - Seville, Spain
JO - 8th International Conference of Education, Research and Innovation
JA - ICERI2015 Proceedings
SP - 8031
EP - 8039
ER -
C. Gómez, A. Hernandez, J. Crespo, R. Barber (2015) A ROS-BASED MIDDLE-COST ROBOTIC PLATFORM WITH HIGH-PERFORMANCE, ICERI2015 Proceedings, pp. 8031-8039.
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