Design of an autonomous mobile robot based on ROS

Köseoğlu, Murat; Celik, Orkan Murat; Pektas, Omer

doi:10.1109/idap.2017.8090199

Cited by 43 publications

(18 citation statements)

References 4 publications

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“…The information of the QR codes can therefore not support the localization in the SLAM approach. The condition of supporting laser and odometry data has fulfilled two software packages, gmapping by OpenSlam 10 and hector slam by TU-Darmstadt 11 . Both build on so-called particle filter which has been described in several papers [14,15,16].…”

Section: Slam Resultsmentioning

confidence: 99%

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MARWIN: Localization of an Inspection Robot in a Radiation exposed Environment

Dehne¹,

Möller²,

Hermes³

2018

Adv. sci. technol. eng. syst. j.

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MARWIN is a mobile autonomous robot platform designed to carry out maintenance and inspection tasks in the European XFEL. The XFEL is an accelerator plant which is operated in Hamburg, Germany. The robot system consists of an four-wheel drive chassis and a scissor lift for easy inspection and maintenance tasks. Through this manipulator and the chassis, the robot system acquires three degrees of freedom. MARWIN is intended for autonomous radiation measurements along the XFEL research facility and thus needs accurate localization. The facility describes a straight tunnel and consists partly of irregular structures and also of sections with almost no obstacles. In the 1000 meter long sections in which MARWIN operates, the robot must approach the facilities to a few centimeters, but must not touch them. For this purpose, different localization methods were tested and checked for accuracy. Furthermore, the influence of radiation on the localization is investigated.

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Section: Slam Resultsmentioning

confidence: 99%

“…How exactly ROS works and is implemented has already been described several times, see e.g. [11,12,13].…”

Section: Localizationmentioning

confidence: 99%

MARWIN: Localization of an Inspection Robot in a Radiation exposed Environment

Dehne¹,

Möller²,

Hermes³

2018

Adv. sci. technol. eng. syst. j.

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“…The definition of an architecture is preceded by the definition of protocols that ensure seamless communication and integration for both the users and the vehicles. In this sequence, a framework layer entitled Robot Operating System (ROS) was created [ 24 ]. This framework sits on top of the UV’s operating system and contributes for their integration.…”

Section: Unmanned Vehicles Platformsmentioning

confidence: 99%

Distributed Architecture for Unmanned Vehicle Services

Ramos

Ribeiro

Safadinho

et al. 2021

Sensors

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The demand for online services is increasing. Services that would require a long time to understand, use and master are becoming as transparent as possible to the users, that tend to focus only on the final goals. Combined with the advantages of the unmanned vehicles (UV), from the unmanned factor to the reduced size and costs, we found an opportunity to bring to users a wide variety of services supported by UV, through the Internet of Unmanned Vehicles (IoUV). Current solutions were analyzed and we discussed scalability and genericity as the principal concerns. Then, we proposed a solution that combines several services and UVs, available from anywhere at any time, from a cloud platform. The solution considers a cloud distributed architecture, composed by users, services, vehicles and a platform, interconnected through the Internet. Each vehicle provides to the platform an abstract and generic interface for the essential commands. Therefore, this modular design makes easier the creation of new services and the reuse of the different vehicles. To confirm the feasibility of the solution we implemented a prototype considering a cloud-hosted platform and the integration of custom-built small-sized cars, a custom-built quadcopter, and a commercial Vertical Take-Off and Landing (VTOL) aircraft. To validate the prototype and the vehicles’ remote control, we created several services accessible via a web browser and controlled through a computer keyboard. We tested the solution in a local network, remote networks and mobile networks (i.e., 3G and Long-Term Evolution (LTE)) and proved the benefits of decentralizing the communications into multiple point-to-point links for the remote control. Consequently, the solution can provide scalable UV-based services, with low technical effort, for anyone at anytime and anywhere.

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“…The associate editor coordinating the review of this manuscript and approving it for publication was Leo Chen. makes the design of the overall system very tasking [1]- [3]. The basics of mobile robotics consist of locomotion, perception and navigation.…”

Section: Introductionmentioning

confidence: 99%

A Review on Challenges of Autonomous Mobile Robot and Sensor Fusion Methods

2020

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Autonomous mobile robots are becoming more prominent in recent time because of their relevance and applications to the world today. Their ability to navigate in an environment without a need for physical or electro-mechanical guidance devices has made it more promising and useful. The use of autonomous mobile robots is emerging in different sectors such as companies, industries, hospital, institutions, agriculture and homes to improve services and daily activities. Due to technology advancement, the demand for mobile robot has increased due to the task they perform and services they render such as carrying heavy objects, monitoring, search and rescue missions, etc. Various studies have been carried out by researchers on the importance of mobile robot, its applications and challenges. This survey paper unravels the current literatures, the challenges mobile robot is being faced with. A comprehensive study on devices/sensors and prevalent sensor fusion techniques developed for tackling issues like localization, estimation and navigation in mobile robot are presented as well in which they are organised according to relevance, strengths and weaknesses. The study therefore gives good direction for further investigation on developing methods to deal with the discrepancies faced with autonomous mobile robot.

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Design of an autonomous mobile robot based on ROS

Cited by 43 publications

References 4 publications

MARWIN: Localization of an Inspection Robot in a Radiation exposed Environment

MARWIN: Localization of an Inspection Robot in a Radiation exposed Environment

Distributed Architecture for Unmanned Vehicle Services

A Review on Challenges of Autonomous Mobile Robot and Sensor Fusion Methods

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