Abstract
The process of developing a navigation system for an educational mobile robot is considered. The analysis of the existing navigation systems of mobile robots is carried out, the hardware of the navigation systems is presented, their advantages and disadvantages are shown. A diagram of the interaction of on-board subsystems during the autonomous movement of a mobile robot is presented. The design of the basic chassis of the educational mobile robot and its technical characteristics are described. A block diagram of the interaction of ROS packages (robotic operating system) for creating a terrain map using a laser ranger is developed, as well as a block diagram of the interaction of ROS packages for the an educational mobile robot tracing. Considering the studies, conclusions are drawn on the applicability of the proposed implementation of a laser ranger based navigation system for an educational mobile robot.
Highlights
The successful development of robotics requires a solid and deep scientific base, which is created by combining efforts of scientists in the fields of mechanics, applied mathematics, control theory, computer science
This paper proposes to use a radio-controlled machine as a base for the educational robot, the design of the electromechanical modules for controlling the movement of the camera and wheels of the educational mobile robot was developed, as well as a platform for placing an on-board computer, sensors and a technical vision system
Consider the main types of navigation systems for mobile robots [8]: 1. passive navigation system - information about its own coordinates and other characteristics of its movement is received from external sources, for example: GPS or radio beacons; active navigation system - information about its own coordinates and other characteristics of its movement is received from sources located on the body or in the construction of a mobile robot, for example: encoders, accelerometers, laser rangers, etc
Summary
The successful development of robotics requires a solid and deep scientific base, which is created by combining efforts of scientists in the fields of mechanics, applied mathematics, control theory, computer science. Industrial mobile robots have long been a usual means of optimizing production cycles in the motor-car, aircraft, ship construction and instrument making enterprises They deliver materials, technological or other equipment to the place of work. Mobile robots include a range of devices: sensors, actuators, computers or artificial intelligence elements Their design and management require qualified specialists, the preparation of which calls for educational robots. The autonomous control system for the mobile robot movement is a complex structure and requires the creation of a number of interconnected on-board systems, such as EMFS – environment model forming system; MPS - motion planning system; ES - executive system; NS - navigation system; SD - servo drives; TVS – technical vision system; CDB cartographic database. The purpose of this article is to develop a navigation system for an educational mobile robot
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