Integrating Arduino-based Educational Mobile Robots in ROS

A. Araújo, D. Portugal, M. S. Couceiro and R. P. Rocha

In Proc. of IEEE 13th Int. Conf. on Autonomous Robot Systems (Robotica 2013), Lisbon, Portugal, pp. 8-13, Apr. 24, 2013. DOI: dx.doi.org/10.1109/Robotica.2013.6623520

Abstract

This article presents the full integration of compact educational mobile robotic platforms built around an Arduino controller board in the Robotic Operating System (ROS). To that end, a driver interface in ROS was created to drastically decrease the development time, providing hardware abstraction and intuitive operation mode, allowing researchers to focus essentially in their main research motivation. Moreover, the full integration in ROS provided by the driver enables the use of several tools for data analysis, easiness of interaction between multiple robots, sensors and teleoperation devices, thereby targeting engineering education. To validate the approach, diverse experimental field tests were conducted using different Arduino-based robotic platforms.

Index Terms — Arduino-based robots, ROS, educational robotics, sensing.

Full text

You may ask Rui Rocha for an electronic copy of this publication’s full text by e-mail:
.

Please select for your message’s subject ‘Requesting Rui Rocha’s electronic copy’ and include on the message’s body your full name, title and affiliation, why do you need to access the publication and the BibTeX information below.

BibTeX

@INPROCEEDINGS(Araujo_et_al_13,

AUTHOR = "Ara{\’u}jo, A. and Portugal, D. and Couceiro, M. S. and Rocha, R. P.",

TITLE = "Integrating Arduino-based Educational Mobile Robots in ROS",

BOOKTITLE = "Proc. of IEEE 13th Int. Conf. on Autonomous Robot Systems and Competitions (Robotica 2013)",

ADDRESS = "Lisbon, Portugal",

YEAR = "2013",

MONTH = "Apr.",

PAGES = "8-13"

)

(top of the page)

Last update: 29/07/2013