TY - GEN
T1 - PlantBot
T2 - 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
AU - Ma, Liulong
AU - Liu, Yanjie
AU - Gao, Yibo
AU - Zhu, Chuanming
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/5
Y1 - 2018/10/5
N2 - In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and easy-to-expand advantages. In scientific research, the corresponding hardware platform is indispensable for the experiment. In the field of mobile robots, PR2, Turtlebot2, and Fetch are commonly used as research platforms. Although these platforms are fully functional and widely used, they are expensive and bulky. What's more, these robots are not easily redesigned and expanded according to requirements. To overcome these limitations, we propose Plantbot, an easy-building, low-cost robot platform that can be redesigned and expanded according to requirements. It can be applied to not only fast algorithm verification, but also simple factory inspection and ROS teaching. This article describes this robot platform from several aspects such as hardware design, kinematics, and control methods. At last two experiments, SLAM and Navigation, on the robot platform are performed. The source code of this platform is available: https://github.com/marooncn/plantbot.
AB - In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and easy-to-expand advantages. In scientific research, the corresponding hardware platform is indispensable for the experiment. In the field of mobile robots, PR2, Turtlebot2, and Fetch are commonly used as research platforms. Although these platforms are fully functional and widely used, they are expensive and bulky. What's more, these robots are not easily redesigned and expanded according to requirements. To overcome these limitations, we propose Plantbot, an easy-building, low-cost robot platform that can be redesigned and expanded according to requirements. It can be applied to not only fast algorithm verification, but also simple factory inspection and ROS teaching. This article describes this robot platform from several aspects such as hardware design, kinematics, and control methods. At last two experiments, SLAM and Navigation, on the robot platform are performed. The source code of this platform is available: https://github.com/marooncn/plantbot.
KW - Fast building
KW - Navigation
KW - Robot Operating System
KW - Robot platform
UR - https://www.scopus.com/pages/publications/85056354465
U2 - 10.1109/ICMA.2018.8484404
DO - 10.1109/ICMA.2018.8484404
M3 - 会议稿件
AN - SCOPUS:85056354465
T3 - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
SP - 930
EP - 935
BT - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 5 August 2018 through 8 August 2018
ER -