This work presents a differential drive mobile robot design for telepresence applications. It consists on two independent wheels, which are driven by a brushless motor equipped with Hall effect current sensors for low-level control. Each motor has an associated PID velocity controller. The robot also includes a lidar sensor and a RGB-D camera to improve the environment perception. Several algorithms are included in the main Raspberry Pi 4 central processor working under ROS framework. However, the main control level incorporates a solution for the person following task and a video streaming software to allow telepresence. The robot can be also teleoperated by means of an external joystick. The user interface is based on a touch screen to allow the control and configuration of the different modules. Regarding the mechanical design, the robot consists on several segments built on carbon steel, aluminum, and 3d printing.
|Título de la publicación alojada||2021 19th Workshop on Information Processing and Control, RPIC 2021|
|Editorial||Institute of Electrical and Electronics Engineers Inc.|
|ISBN (versión digital)||9781665414364|
|Estado||Publicada - 2021|
|Evento||19th Workshop on Information Processing and Control, RPIC 2021 - San Juan, Argentina|
Duración: 3 nov. 2021 → 5 nov. 2021
Serie de la publicación
|Nombre||2021 19th Workshop on Information Processing and Control, RPIC 2021|
|Conferencia||19th Workshop on Information Processing and Control, RPIC 2021|
|Período||3/11/21 → 5/11/21|
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© 2021 IEEE.