TY - GEN
T1 - Design and implementation of an omnidirectional mobile robot platform with unified I/O interfaces
AU - Wu, Jingyang
AU - Lv, Chaoshun
AU - Zhao, Lijun
AU - Li, Ruifeng
AU - Wang, Guanglin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/23
Y1 - 2017/8/23
N2 - Nowadays, mobile robots have been investigated in many scenarios. Among varieties of mobile robots, their I/O interfaces varies a lot, which seriously hinders the popularity of mobile robots. A practical and versatile mobile robot platform is needed both in academic research and industrial applies. In this paper, we designed a low-cost omnidirectional mobile robot platform, named Savvy. Savvy is equipped with a variety of unified I/O interfaces and multifunctional. The software system framework of this platform is built based on ROS. We extended a number of functions for Savvy and carried out four experiments, including motion calibration, SLAM, autonomous navigation and pedestrian following. The results verified that Savvy is adaptive to indoor environment with high positioning precision, which can be employed in logistics and various HRI applications.
AB - Nowadays, mobile robots have been investigated in many scenarios. Among varieties of mobile robots, their I/O interfaces varies a lot, which seriously hinders the popularity of mobile robots. A practical and versatile mobile robot platform is needed both in academic research and industrial applies. In this paper, we designed a low-cost omnidirectional mobile robot platform, named Savvy. Savvy is equipped with a variety of unified I/O interfaces and multifunctional. The software system framework of this platform is built based on ROS. We extended a number of functions for Savvy and carried out four experiments, including motion calibration, SLAM, autonomous navigation and pedestrian following. The results verified that Savvy is adaptive to indoor environment with high positioning precision, which can be employed in logistics and various HRI applications.
KW - Autonomous navigation
KW - Omnidirectional mobile robot
KW - Pedestrian following
KW - SLAM
KW - Unified I/O interface
UR - https://www.scopus.com/pages/publications/85030310227
U2 - 10.1109/ICMA.2017.8015852
DO - 10.1109/ICMA.2017.8015852
M3 - 会议稿件
AN - SCOPUS:85030310227
T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
SP - 410
EP - 415
BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Y2 - 6 August 2017 through 9 August 2017
ER -