Abstract

MIGUELEZ MACHADO, Carlos Guillermo; BENITEZ GONZALEZ, Ivón Oristela; RIVERA RIVERA, Alex Manuel  and  MORENO VEGA, Valery. Robotic Operating System Implementation on a Mobile Robot Platform. EAC [online]. 2020, vol.41, n.3, pp. 79-92.  Epub Dec 01, 2020. ISSN 1815-5928.

In this paper an implementation of Robotic Operating System (ROS) on a mobile robot designed for human interaction and service is presented. The platform is designed using a digital system based on an Arduino Mega board and a Single Board Computer (SBC) Raspberry Pi in communication with a remote computer. The microcontroller board is used to perform all low-level operations over the hardware. It’s established a serial communication between microcontroller and Raspberry Pi which is running various ROS packages to manipulate information. A Raspberry Pi camera it’s connected to the SBC and the frames captured by the camera are sent to the remote computer for image processing using ROS and OpenCv; the response is generated on the remote computer in dependence of the image taken. The project gives the description of a layered distributed implementation of ROS in a mobile platform developed in Cuba in lower cost that many present on the market.

Keywords : Robotic Operating System (ROS); mobile robot; Raspberry Pi; Arduino board.

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