PI controller implementation for the two wheels of a differential robot using NI MyRio
Autor(a) principal: | |
---|---|
Data de Publicação: | 2022 |
Outros Autores: | , |
Tipo de documento: | Artigo |
Idioma: | por |
Título da fonte: | Research, Society and Development |
Texto Completo: | https://rsdjournal.org/index.php/rsd/article/view/28925 |
Resumo: | Introduction. This article proposes a navigation architecture for non-holonomic mobile robots for known positions on the navigation map. This architecture can plan a path from the current point to the destination. Navigation is ensured by the move_base controller package of Robot Operating System (ROS) that guides the robot in the predetermined trajectory. Objectives. This article shows the navigation of a non-holonomic robot using (Adaptive Monte Carlo Localization) AMCL algorithm and ROS for educational and development purposes. Methodology. The developed control is compatible with ROS and some examples are shown using a differential robot developed at the Federal Institute of Espirito Santo. The encoders, wheel and robot speed controllers are read in an embedded NI-MyRio system, which is programmed using LabVIEW. ROS is installed on a Linux ODROID minicomputer, which is part of the robot and is connected via Ethernet to a LiDAR laser sensor and to the NI-MyRio. ROS ability to work in a network environment allows control and supervision of devices through computer network. Results. It was possible to perform the navigation of the mobile robot, making it reach the desired final location. Within the experiments, it was possible to prove the functionality of the AMCL algorithm and the proposed architecture. Conclusion. Through the tests performed with the robot, it was possible to conclude that the navigation objective was successfully completed, validating the system and the applicability of the AMCL algorithm. |
id |
UNIFEI_2888f5058304407c7c4313048288c236 |
---|---|
oai_identifier_str |
oai:ojs.pkp.sfu.ca:article/28925 |
network_acronym_str |
UNIFEI |
network_name_str |
Research, Society and Development |
repository_id_str |
|
spelling |
PI controller implementation for the two wheels of a differential robot using NI MyRioDiseño de un controlador PI para las ruedas de un robot móvil diferencial utilizando NI MyRioNavegação robô móvel diferencial com AMCL utilizando o ROSRobótica móvelControlador de trajetóriaROSLabVIEWAMCLEnsino de robótica.Mobile roboticsTrajectory controllerROSLabVIEWAMCLRobotics teaching.Robótica móvilControlador de trayectoriaROSLabVIEWAMCLEnseñanza en robótica.Introduction. This article proposes a navigation architecture for non-holonomic mobile robots for known positions on the navigation map. This architecture can plan a path from the current point to the destination. Navigation is ensured by the move_base controller package of Robot Operating System (ROS) that guides the robot in the predetermined trajectory. Objectives. This article shows the navigation of a non-holonomic robot using (Adaptive Monte Carlo Localization) AMCL algorithm and ROS for educational and development purposes. Methodology. The developed control is compatible with ROS and some examples are shown using a differential robot developed at the Federal Institute of Espirito Santo. The encoders, wheel and robot speed controllers are read in an embedded NI-MyRio system, which is programmed using LabVIEW. ROS is installed on a Linux ODROID minicomputer, which is part of the robot and is connected via Ethernet to a LiDAR laser sensor and to the NI-MyRio. ROS ability to work in a network environment allows control and supervision of devices through computer network. Results. It was possible to perform the navigation of the mobile robot, making it reach the desired final location. Within the experiments, it was possible to prove the functionality of the AMCL algorithm and the proposed architecture. Conclusion. Through the tests performed with the robot, it was possible to conclude that the navigation objective was successfully completed, validating the system and the applicability of the AMCL algorithm.Introducción. Este artículo propone una arquitectura de navegación para robots móviles no-holonómicos en posiciones conocidas en el mapa de navegación. Esta arquitectura tiene la capacidad de planificar un camino entre el punto actual y el deseado. La navegación es asegurada con el controlador move_base del Robot Operating System (ROS) que garantiza que el robot va a seguir una trayectoria predeterminada. Objectivos. Este artículo muestra la navegación de un robot con AMCL utilizando ROS para fines didácticos y de desarrollo. Metodología. El control desarrollado es compatible con ROS y algunos ejemplos de aplicación de este sistema en un robot diferencial desarrollado en el Instituto Federal do Espírito Santo son presentados. La lectura de los encoders, los controladores de velocidad de las ruedas y del robot están en un sistema embebido de National Instruments, NI My Rio, programado usando LabVIEW. El ROS está instalado en un miniordenador ODROID Linux integrado en el robot que está conectado a través de Ethernet a un sensor láser LiDAR ya NI-MyRio. La capacidad de ROS para trabajar en un entorno de red permite controlar y supervisar equipos a través de computadoras en la misma red. Resultados. Se logró realizar la navegación del robot móvil, haciéndolo llegar a la ubicación final deseada. Además, se logró probar la funcionalidad del algoritmo AMCL y de la arquitectura propuesta. Conclusión. A través de las pruebas realizadas con el robot se concluye que el objetivo de navegación se cumplió con éxito, validando el sistema y la aplicabilidad del algoritmo AMCL.Introdução. Este artigo propõe uma arquitetura de navegação para robôs móveis não Holonômicos em posições conhecidas no mapa de navegação. Esta arquitetura tem a capacidade de planejar um caminho entre o ponto atual e o destino. A navegação é garantida com o controlador move_base do Robot Operating System (ROS) para percorrer uma trajetória pré-determinada. Objetivo. Este artigo mostra a navegação de um robô com AMCL utilizando o ROS para fins didáticos e de desenvolvimento. Metodologia. O controle desenvolvido é compatível com o ROS e são apresentados alguns exemplos da aplicação desse sistema em um robô diferencial desenvolvido no Instituto Federal do Espírito Santo. A leitura dos encoders, os controladores de velocidade das rodas e do robô encontram-se num sistema embarcado da National Instruments, o NI‑MyRio, programado utilizando LabVIEW. O ROS está instalado no Linux no minicomputador ODROID embarcado no robô que está conectado via Ethernet a um sensor laser LiDAR e ao NI-MyRio. A capacidade do ROS em trabalhar em ambiente de rede permite controlar e supervisionar os equipamentos através de computadores na mesma rede. Resultados. Foi possível realizar a navegação do robô móvel, fazendo‑o chegar até a localização final desejada. Dentro dos experimentos, foi possível comprovar a funcionalidade do algoritmo AMCL e da arquitetura proposta. Conclusão. Por meio dos testes realizados com o robô, foi possível concluir que o objetivo de navegação foi concluído com êxito, validando o sistema e a aplicabilidade do algoritmo AMCL.Research, Society and Development2022-04-26info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttps://rsdjournal.org/index.php/rsd/article/view/2892510.33448/rsd-v11i6.28925Research, Society and Development; Vol. 11 No. 6; e23211628925Research, Society and Development; Vol. 11 Núm. 6; e23211628925Research, Society and Development; v. 11 n. 6; e232116289252525-3409reponame:Research, Society and Developmentinstname:Universidade Federal de Itajubá (UNIFEI)instacron:UNIFEIporhttps://rsdjournal.org/index.php/rsd/article/view/28925/25161Copyright (c) 2022 Ronaldo do Amaral Oliveira; Marco Antonio de Souza Leite Cuadros; Carlos Torturella Valadãohttps://creativecommons.org/licenses/by/4.0info:eu-repo/semantics/openAccessOliveira, Ronaldo do Amaral Cuadros, Marco Antonio de Souza Leite Valadão, Carlos Torturella 2022-05-13T18:04:10Zoai:ojs.pkp.sfu.ca:article/28925Revistahttps://rsdjournal.org/index.php/rsd/indexPUBhttps://rsdjournal.org/index.php/rsd/oairsd.articles@gmail.com2525-34092525-3409opendoar:2024-01-17T09:46:09.654204Research, Society and Development - Universidade Federal de Itajubá (UNIFEI)false |
dc.title.none.fl_str_mv |
PI controller implementation for the two wheels of a differential robot using NI MyRio Diseño de un controlador PI para las ruedas de un robot móvil diferencial utilizando NI MyRio Navegação robô móvel diferencial com AMCL utilizando o ROS |
title |
PI controller implementation for the two wheels of a differential robot using NI MyRio |
spellingShingle |
PI controller implementation for the two wheels of a differential robot using NI MyRio Oliveira, Ronaldo do Amaral Robótica móvel Controlador de trajetória ROS LabVIEW AMCL Ensino de robótica. Mobile robotics Trajectory controller ROS LabVIEW AMCL Robotics teaching. Robótica móvil Controlador de trayectoria ROS LabVIEW AMCL Enseñanza en robótica. |
title_short |
PI controller implementation for the two wheels of a differential robot using NI MyRio |
title_full |
PI controller implementation for the two wheels of a differential robot using NI MyRio |
title_fullStr |
PI controller implementation for the two wheels of a differential robot using NI MyRio |
title_full_unstemmed |
PI controller implementation for the two wheels of a differential robot using NI MyRio |
title_sort |
PI controller implementation for the two wheels of a differential robot using NI MyRio |
author |
Oliveira, Ronaldo do Amaral |
author_facet |
Oliveira, Ronaldo do Amaral Cuadros, Marco Antonio de Souza Leite Valadão, Carlos Torturella |
author_role |
author |
author2 |
Cuadros, Marco Antonio de Souza Leite Valadão, Carlos Torturella |
author2_role |
author author |
dc.contributor.author.fl_str_mv |
Oliveira, Ronaldo do Amaral Cuadros, Marco Antonio de Souza Leite Valadão, Carlos Torturella |
dc.subject.por.fl_str_mv |
Robótica móvel Controlador de trajetória ROS LabVIEW AMCL Ensino de robótica. Mobile robotics Trajectory controller ROS LabVIEW AMCL Robotics teaching. Robótica móvil Controlador de trayectoria ROS LabVIEW AMCL Enseñanza en robótica. |
topic |
Robótica móvel Controlador de trajetória ROS LabVIEW AMCL Ensino de robótica. Mobile robotics Trajectory controller ROS LabVIEW AMCL Robotics teaching. Robótica móvil Controlador de trayectoria ROS LabVIEW AMCL Enseñanza en robótica. |
description |
Introduction. This article proposes a navigation architecture for non-holonomic mobile robots for known positions on the navigation map. This architecture can plan a path from the current point to the destination. Navigation is ensured by the move_base controller package of Robot Operating System (ROS) that guides the robot in the predetermined trajectory. Objectives. This article shows the navigation of a non-holonomic robot using (Adaptive Monte Carlo Localization) AMCL algorithm and ROS for educational and development purposes. Methodology. The developed control is compatible with ROS and some examples are shown using a differential robot developed at the Federal Institute of Espirito Santo. The encoders, wheel and robot speed controllers are read in an embedded NI-MyRio system, which is programmed using LabVIEW. ROS is installed on a Linux ODROID minicomputer, which is part of the robot and is connected via Ethernet to a LiDAR laser sensor and to the NI-MyRio. ROS ability to work in a network environment allows control and supervision of devices through computer network. Results. It was possible to perform the navigation of the mobile robot, making it reach the desired final location. Within the experiments, it was possible to prove the functionality of the AMCL algorithm and the proposed architecture. Conclusion. Through the tests performed with the robot, it was possible to conclude that the navigation objective was successfully completed, validating the system and the applicability of the AMCL algorithm. |
publishDate |
2022 |
dc.date.none.fl_str_mv |
2022-04-26 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://rsdjournal.org/index.php/rsd/article/view/28925 10.33448/rsd-v11i6.28925 |
url |
https://rsdjournal.org/index.php/rsd/article/view/28925 |
identifier_str_mv |
10.33448/rsd-v11i6.28925 |
dc.language.iso.fl_str_mv |
por |
language |
por |
dc.relation.none.fl_str_mv |
https://rsdjournal.org/index.php/rsd/article/view/28925/25161 |
dc.rights.driver.fl_str_mv |
https://creativecommons.org/licenses/by/4.0 info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
https://creativecommons.org/licenses/by/4.0 |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
Research, Society and Development |
publisher.none.fl_str_mv |
Research, Society and Development |
dc.source.none.fl_str_mv |
Research, Society and Development; Vol. 11 No. 6; e23211628925 Research, Society and Development; Vol. 11 Núm. 6; e23211628925 Research, Society and Development; v. 11 n. 6; e23211628925 2525-3409 reponame:Research, Society and Development instname:Universidade Federal de Itajubá (UNIFEI) instacron:UNIFEI |
instname_str |
Universidade Federal de Itajubá (UNIFEI) |
instacron_str |
UNIFEI |
institution |
UNIFEI |
reponame_str |
Research, Society and Development |
collection |
Research, Society and Development |
repository.name.fl_str_mv |
Research, Society and Development - Universidade Federal de Itajubá (UNIFEI) |
repository.mail.fl_str_mv |
rsd.articles@gmail.com |
_version_ |
1797052820942225408 |