Autonomous Robot Project Based on the Robot Operating System Platform

• Autorzy: Cherubin Szymon , Kaczmarek Wojciech , Daniel Natalia

Identyfikatory

DOI

10.5604/01.3001.0016.1462

Warianty tytułu

PL

Projekt robota autonomicznego bazującego na platformie Robot Operating System

• Języki publikacji: EN

Abstrakty

EN

This article presents the concept of an autonomous mobile robot running on the ROS system and using advanced algorithms for 2D map generation and autonomous navigation. The authors focused on presenting the hardware platform, the Linux-based software and the Robot Operating System (ROS) platform. This article also introduces an algorithm that provides the generation of a 2D map of the surroundings, autonomous robot driving and remote control of the device. Measurements of the temperature of the computer helped in the decision on which cooling system to use.

PL

W artykule przedstawiono koncepcję autonomicznego robota mobilnego pracującego w systemie ROS i wykorzystującego zaawansowane algorytmy do generacji dwuwymiarowej mapy oraz autonomicznej nawigacji. Autorzy skupili się na przedstawieniu platformy sprzętowej urządzenia oraz na zaimplementowanym oprogramowaniu opartym na systemie LINUX oraz platformie Robot Operating System (ROS). W artykule zaprezentowano również algorytm realizujący generację dwuwymiarowej mapy otoczenia, autonomiczną jazdę robota oraz zdalne sterowanie urządzeniem. Wykonane pomiary temperatury komputera pozwoliły na podjęcie decyzji dotyczącej zastosowanego układu chłodzenia.

Słowa kluczowe

EN

robotics; mobile robot; map generation; ROS; Linux

PL

robotyka; robot mobilny; generacja mapy; ROS; Linux

• Wydawca: Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego
• Czasopismo: Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa
• Rocznik: 2022
• Tom: Vol. 13, Nr 4 (50)
• Strony: 85--108
• Opis fizyczny: Bibliogr. 37 poz., fot., rys., tab., wykr.

Twórcy

autor

Cherubin Szymon

• Military University of Technology, Faculty of Mechatronics, Armament and Aerospace, 2 Sylwestra Kaliskiego Str., 00-908 Warsaw, Poland

autor

Kaczmarek Wojciech

• Military University of Technology, Faculty of Mechatronics, Armament and Aerospace, 2 Sylwestra Kaliskiego Str., 00-908 Warsaw, Poland

• https://orcid.org/0000-0003-3805-9510

autor

Daniel Natalia

• Military University of Technology, Faculty of Mechatronics, Armament and Aerospace, 2 Sylwestra Kaliskiego Str., 00-908 Warsaw, Poland

Bibliografia

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Uwagi

1. Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).

2. The study was co-financed by the Military University of Technology (Warsaw, Poland) under Research project UGB 893/2021.