Advertisement

Integrating Arduino-Based Educational Mobile Robots in ROS

Abstract

This article presents the full integration of compact educational mobile robotic platforms built around an Arduino controller board in the Robot Operating System (ROS). To decrease the development time, a driver interface in ROS was created so as to provide hardware abstraction and intuitive operation mode, thus allowing researchers to focus essentially in their main research motivation, e.g., search and rescue, multi-robot surveillance or swarm robotics. Moreover, the full integration in ROS provided by the driver enables the use of several tools for data analysis, easiness of interaction between multiple robots, use of different sensors and teleoperation devices, thereby targeting engineering education. To validate the approach, diverse experimental tests were conducted using different Arduino-based robotic platforms.

This is a preview of subscription content, log in to check access.

Access options

Buy single article

Instant unlimited access to the full article PDF.

US$ 39.95

Price includes VAT for USA

Subscribe to journal

Immediate online access to all issues from 2019. Subscription will auto renew annually.

US$ 199

This is the net price. Taxes to be calculated in checkout.

References

  1. 1.

    Petrina, A.M.: Advances in robotics. In: Automatic Documentation and Mathematical Linguistics, vol. 45, No. 2, pp. 43–57. Allerton Press, Inc. (2011)

  2. 2.

    Brooks, R.A.: New approaches to robotics. Science 253, 1227–1232 (1991)

  3. 3.

    Portugal, D., Rocha, R.P.: Distributed multi-robot patrol: a scalable and fault-tolerant framework. Robot. Auton. Syst. 61(12), 1572–1587, Elsevier (2013)

  4. 4.

    Couceiro, M.S., Rocha, R.P., Ferreira, N.M.F.: A PSO multi-robot exploration approach over unreliable MANETs. Adv. Robot. 27(16), 1221–1234, Robotics Society of Japan (2013)

  5. 5.

    Warren, J.-D., Adams, J., Molle, H.: Arduino robotics. Springer Science and Business Media (2011)

  6. 6.

    Araújo, A., Portugal, D., Couceiro, M., Figueiredo, C., Rocha, R.: TraxBot: assembling and programming of a mobile robotic platform. In: Proc. of the 4th International Conference on Agents and Artificial Intelligence (ICAART 2012). Vilamoura (2012)

  7. 7.

    Quigley, M., Gerkey, B., Conley, K., Faust, J., Foote, T., Leibs, J., Berger, E., Wheeler, R., Ng, A.Y.: ROS: an open-source robot operating system. In: Proc. Open-Source Software workshop of the International Conference on Robotics and Automation. Kobe (2009)

  8. 8.

    Gerkey, B., Vaughan, R., Howard, A.: The player/stage project: tools for multi-robot and distributed sensor systems. In: Proc. of the Intl. Conf. on Advanced Robotics, pp. 317–323. Coimbra (2003)

  9. 9.

    Grisetti, G., Stachniss, C., Burgard, W.: Improved techniques for grid mapping with rao-blackwellized particle filters. In: IEEE Transactions on Robotics (2006)

  10. 10.

    Rusu, R., Cousins, S.: 3D is here: Point Cloud Library (PCL). In: Proc. of International Conference on Robotics and Automation (ICRA 2011). Shanghai (2011)

  11. 11.

    Couceiro, M.S., Figueiredo, C.M., Luz, J.M., Ferreira, N.M.F., Rocha, R.P.: A low-cost educational platform for swarm robotics. Int. J. Robot. Educ. Art 2(1), 1–15 (2012)

  12. 12.

    Park, I.W., Kim, J.O.: Philosophy and strategy of minimalism-based user created robots (UCRs) for educational robotics - education, technology and business viewpoint. Int. J. Robot. Educ. Art 1(1), 26–38 (2011)

  13. 13.

    Kuipers, M.: Localization with the iRobot create. In: Proceedings of the 47th Annual Southeast Regional Conference ACM (ACM-SE 47). Clemson (2009)

  14. 14.

    Bagnall, B.: Maximum LEGO NXT: Building Robots with Java Brains. Variant Press, Winnipeg, Manitoba (2007)

  15. 15.

    Mondada, F., et al.: The e-puck, a robot designed for education in engineering. In: Proc. of the 9th Conf. on Autonomous Robot Systems and Competitions 1(1):59–65 (2009)

  16. 16.

    Bonani, M., Longchamp, V., Magnenat, S., Rétornaz, P., Burnier, D., Roulet, G., Mondada, F.: The MarXbot, a miniature mobile robot opening new perspectives for the collective-robotic research. In: Int. Conf. on Intelligent Robots and Systems. Taipei, 18–22 Oct (2010)

  17. 17.

    Cummins, J., Azhar, M.Q., Sklar, E.: Using surveyor SRV-1 robots to motivate CS1 students. In: Proceedings of the AAAI 2008 Artificial Intelligence Education Colloquium (2008)

  18. 18.

    Mitrović Srđan, T.: Design of fuzzy logic controller for autonomous garaging of mobile robot. J. Autom. Control 16.1, 13–16 (2006)

  19. 19.

    Zaman, S., Slany, W., Steinbauer, G.: ROS-based mapping, localization and autonomous navigation using a pioneer 3-DX robot and their relevant issues. In: Proc. of the IEEE Saudi International Electronics, Communications and Photonics Conference. Riad (2011)

  20. 20.

    Linner, T., Shrikathiresan, A., Vetrenko, M., Ellmann, B.: Modeling and operating robotic environent using Gazebo/ROS. In: Proceedings of the 28th International Symposium on Automation and Robotics in Construction (ISARC2011), pp. 957–962. Seoul (2011)

  21. 21.

    Wunsche, B., Chen, I., MacDonald, B.: Mixed reality simulation for mobile robots. In: Proc. of International Conference on Robotics and Automation (ICRA 2009). Kobe (2009)

  22. 22.

    Wagner, A., Arkin, R.: Robot deception: recognizing when a robot should deceive. In: Proc. of Computational Intelligence in Robotics and Automation (CIRA). Daejeon (2009)

  23. 23.

    Rocha, R., Dias, J., Carvalho, A.: Cooperative multi-robot systems: a study of vision-based 3-D mapping using information theory. In: Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’2005), pp. 386–391. Barcelona (2005)

  24. 24.

    Kneip, L., Tâche, F., Caprari, G., Siegwart, R.: Characterization of the compact Hokuyo URG-04LX 2D laser range scanner. In: Proceedings of the IEEE International Conference on Robotics and Automation. Kobe (2009)

  25. 25.

    Kohlbrecher, S., Meyer, J., von Stryk, O., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: Proc. of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR’2011), pp. 50–55. Kyoto (2011)

  26. 26.

    Couceiro, M.S., Portugal, D., Rocha, R.P.: A collective robotic architecture in search and rescue scenarios. In: Proc. of 28th Symposium on Applied Computing (SAC 2013), pp. 64–69. Coimbra (2013)

Download references

Author information

Correspondence to David Portugal.

Electronic supplementary material

Below is the link to the electronic supplementary material.

(MP4 60.7 MB)

(MP4 60.7 MB)

Rights and permissions

Reprints and Permissions

About this article

Cite this article

Araújo, A., Portugal, D., Couceiro, M.S. et al. Integrating Arduino-Based Educational Mobile Robots in ROS. J Intell Robot Syst 77, 281–298 (2015) doi:10.1007/s10846-013-0007-4

Download citation

Keywords

  • Arduino-based robots
  • ROS
  • Educational robotics
  • Sensing