Resumen
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.
Idioma original | Inglés |
---|---|
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 |
DOI | |
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
Conferencia | 19th Workshop on Information Processing and Control, RPIC 2021 |
---|---|
País/Territorio | Argentina |
Ciudad | San Juan |
Período | 3/11/21 → 5/11/21 |
Nota bibliográfica
Publisher Copyright:© 2021 IEEE.