This paper proposes the author's design of a mobile robot intended for creating a two-dimensional map of the environment. The first part of the paper describes the scope of automated systems called ...robots. On this basis, the design assumptions of the author's robot were defined, the components used in the construction are shown, the operation of the Robot Operating System (ROS) and the packages used in this robot control system are presented. The main idea, which was to govern the project was its low manufacturing cost. Thus, the use of the optical system of the Kinect device. As a result. the operation of the algorithm controlling the robot via the ATmega328 microcontroller is demonstrated. The results of the experimental verification of the robot's performance are presented in the form of two-dimensional maps of the rooms in which the experiments were carried out.
In this paper, a cloud-based mission control architecture is proposed to achieve flexible remote access and coordinated mission control among a fleet of unmanned surface vehicles (USVs). First, a ...cloud-based mission control architecture that renders easy, timely and prioritized remote access to the USVs regardless of the remote operator’s location is proposed. It is achieved by leveraging remote cloud-based technology and local Operating onboard System. Decentralized property of the architecture accomplishes scalable monitoring, remote control, data acquisition and missions sharing for an USV fleet. Second, the related software interfaces are required for this task: the user interface of the remote client that is used for mission control/planning and data visualization and that is applicable across mobile robotic systems; and the back-end interface for the local USVs that bridges robotic and cloud server and provides seamless integration with the well-established Robot Operating System (ROS). ROS is nowadays, the most widely used framework for robotics developments. Furthermore, the proposed cloud-based mission control architecture is implemented on a fleet of real vehicles, H2Omni-X USVs, and the performance of the remote experimentation is demonstrated during sea trials at the Adriatic coast, Croatia, representing the practical contribution of this paper.
We are conducting research and development of Hakoniwa, a virtual simulation environment in the age of IoT and cloud robotics. This research aims to deploy the core functionality of Hakoniwa for ...simulation of ROS 2 applications. The proposed method mainly consists of Docker and Unity, and allows engineers to easily try out robot development as many times as they wish on multiple platforms independent of OS environment.
•A large amount of ROS packages ends up being abandoned by their developers.•ROS package reuse is not as easy as promised: bugs and lack of basic documentation hamper reuse.•Members of the ROS ...ecosystem do not contribute because they lack time or confidence in their possible contribution.•We can improve the ROS ecosystem by identifying and predicting abandoned packages.•Recommender systems can be used to propose contribution opportunities to community members.
ROS, the Robot Operating System, offers a core set of software for operating robots that can be extended by creating or using existing packages, making it possible to write robotic software that can be reused on different hardware platforms. With thousands of packages available per stable distribution, encapsulating algorithms, sensor drivers, etc., it is the de facto middleware for robotics. Like any software ecosystem, ROS must evolve in order to keep meeting the requirements of its users. In practice, packages may end up being abandoned between releases: no one may be available to update a package, or newer packages offer similar functionality. As such, we wanted to identify and understand the evolution challenges faced by the ROS ecosystem. In this article, we report our findings after interviewing 19 ROS developers in depth, followed by a focus group (4 participants) and an online survey of 119 ROS community members. We specifically focused on the issues surrounding package reuse and how to contribute to existing packages. To conclude, we discuss the implications of our findings, and propose five recommendations for overcoming the identified issues, with the goal of improving the health of the ROS ecosystem.
This paper investigates the trajectory tracking control of an autonomous tracked vehicle. First, the desired linear and angular velocities are evaluated based on vehicle’s kinematics. An optimized ...backstepping controller is proposed as the kinematic controller, whereas the controller gains are optimally obtained. Next, an integral sliding mode control (SMC) is exploited based on vehicle dynamics and slipping characteristics, to obtain the desired torques that drive the vehicle and converge its trajectory to the desired one. Moreover, stability analysis of the whole system is proven based on Lyapunov theory. Finally, simulations and real-time experiments based on robot operating system (ROS) implementation are conducted to validate the effectiveness of the proposed control algorithm and compared with a hybrid backstepping-modified PID dynamic controller.
Autonomous Mobile Robots, as the advanced version of Automated Guided Vehicles have received a lot of interest and recognition in recent years. Simultaneous Localization and Mapping (SLAM) techniques ...enable the vehicles to independently navigate and map their surroundings so that they can drive autonomously in changing and uncharted areas. Due to the increasing importance and contributive development of SLAMs for automated guided vehicles and autonomous mobile robots, this study seeks to provide an in-depth analysis of well-known SLAM techniques developed and applied during the previous ten years. Well-known SLAM algorithms considered in this paper include GMapping, Cartographer, LIO-SAM, and so on. They are mainly examined and compared from the viewpoints of basic principles, sensor requirements, computing complexity, and performance. The aim of this paper is to offer insights into various SLAM approaches to researchers, practitioners, and developers in the field of automated guided vehicles and autonomous mobile robots, facilitating the selection of suitable SLAM methods for specific applications and fostering innovation in autonomous navigation and mapping.
In recent research activities, autonomous vehicles and self-driving technology have gained lot of attention among scientists. The idea of autonomous vehicles can be anticipated in the 1920s when the ...design of the first radio-controlled vehicles was in progress. Autonomous vehicles are going to be the trend of the future in this modern era of automation and technology. In this paper various autonomous driving aspects, highlighting the software stack and hardware components are discussed. The software architecture covers mainly robot operating system (ROS), machine learning (ML), deep learning (DL), and OpenCV frameworks, along with the calibration of sensors and cameras. The paper also discussed about simultaneous localization and mapping (SLAM) based-path tracking, computer vision-based controller, and intelligent object avoidance. Further, point cloud, ground, radius, and raycast filters was implemented to distinguish between the real-time objects, ground, and its own parts or obstacle shadows. The paper highlights the overall hardware modules responsible for controlling the car.
•Future trend of Autonomous vehicles in modern era of automation and technology.•Simultaneous localization and mapping based-path tracking.•Computer vision-based controller, and intelligent object avoidance.•Discussion on Hardware modules responsible for controlling the car.
