Autonomous Wheeled Robot Platform Testbed for Navigation And Mapping Using Low-Cost Sensors

Abstract

ABSTRACT:This paper presents the concept of an architecture for a wheeled robot system that helps researchers in the field of geomatics to speed up their daily research on kinematic geodesy, indoor navigation and indoor positioning fields. The presented ideas corresponds to an extensible and modular hardware and software system aimed at the development of new low-cost mapping algorithms as well as at the evaluation of the performance of sensors. The concept, already implemented in the CTTC's system ARAS (Autonomous Rover for Automatic Surveying) is generic and extensible. This means that it is possible to incorporate new navigation algorithms or sensors at no maintenance cost. Only the effort related to the development tasks required to either create such algorithms needs to be taken into account. As a consequence, change poses a much small problem for research activities in this specific area. This system includes several standalone sensors that may be combined in different ways to accomplish several goals; that is, this system may be used to perform a variety of tasks, as, for instance evaluates positioning algorithms performance or mapping algorithms performance.

Linear Differential Driven Wheel Mobile Robot Based on MPU9250 and Optical Encoder

“…where τ is the target count to set, d is the distance to travel, 𝐷, is the wheel diameter and 𝒸 is the count per revolution. However, several previous works as discussed in [28], [29] have highlighted the limitations of this approach towards the occurrences of wheel slip or skid, resulting in significant error yield at its output. This is because during such event, the force applied at the tires would overcome the surface traction causing the wheel to spin unhindered by any traction forces [6].…”

Application of Robotic System for Obtaining Information About the Area

“…Currently, there are quite a lot of different real mobile robotic systems, created mainly for automatic indoor photography (Bazhan, S., et al, 2019, Mustafa K. A. A., et al, 2019, Wu, W., et al, 2019, Calero, D., et al, 2017, Chen, C., et al, 2017, Calisi, D., et al, 2017, Borrmann, D., et al, 2015 or outside (Wu, W., et al, 2019, Calisi, D., et al, 2017. These robots use different platforms on 3, 4 and 6 wheels or tracks.…”

“…For autonomous orientation, they use a variety of equipment: IMU, odometers, scanners, Kinect, video cameras, panoramic cameras, stereo cameras, etc. Most developments are focused on the use of low-cost equipment (Calero, D., et al, 2017, Chen, C., et al, 2017Wu, W., et al, 2019. It's natural.…”

NDVI Point Cloud Generator Tool Using Low-Cost RGB-D Sensor

“…A four wheeled robot platform testbed ( Fig. 1) is used for the tests validation [13]. The robot platform includes an IMU sensor, four quadrature rotary encoders sensors and a GPS.…”