A differential drive mobile robot controlled by using the robotics operational system (ROS)
| dc.creator | Borrero-Guerrero, Henry | |
| dc.creator | López-Aguilar, Juan José | |
| dc.creator | Orduz-García, Alejandra | |
| dc.creator | Barrero, Sara Valentina | |
| dc.creator | Jutinico-Alarcón, Andrés Leonardo | |
| dc.date | 2023-11-29 | |
| dc.date.accessioned | 2026-08-04T22:04:08Z | |
| dc.date.available | 2026-08-04T22:04:08Z | |
| dc.description | Considering that the working of mobile robots is facilitated by using distributed embedded systems capable of working cooperatively and that managing these systems requires distributed software applications generally written in C++ or Python, it can be argued that ROS (Robotics Operational Systems) can be considered as a useful tool in undertaking robotic projects as it facilitates the integration of software drivers for installed devices. With ROS, software devices can be kept separate but communicate data to achieve distributed control. This paper describes partial results of a currently ongoing research project, which employs a fuzzy controller to maintain a differential drive mobile robot in a path between crops rows, which are detected using LiDAR (Light Detection and Ranging) and IMU (Inertial Measurement Unit) sensors. Python programs are used to read sensors and control robot DC motors using a fuzzy controller working in a team on the ROS platform. This paper provides a general overview of our robot, including its structure, hardware, software, reached results and future works. | en-US |
| dc.description | Teniendo en cuenta que el funcionamiento de los robots móviles se ve facilitado por el uso de sistemas embebidos distribuidos capaces de trabajar de forma cooperativa y que la gestión de estos sistemas requiere aplicaciones de software distribuidas escritas generalmente en C++ o Python, se puede argumentar que ROS (Robotics Operational Systems) puede considerarse una herramienta útil a la hora de emprender proyectos robóticos, ya que facilita la integración de controladores de software para los dispositivos instalados. Con ROS, los dispositivos de software pueden mantenerse separados pero comunicar datos para lograr un control distribuido. Este artículo describe resultados parciales de un proyecto de investigación actualmente en curso, que emplea un controlador difuso para mantener un robot móvil de accionamiento diferencial en una trayectoria entre hileras de cultivos, que se detectan mediante sensores LiDAR (Light Detection and Ranging) e IMU (Inertial Measurement Unit). Se utilizan programas Python para leer los sensores y controlar los motores DC del robot utilizando un controlador difuso trabajando en equipo en la plataforma ROS. Este artículo proporciona una visión general de nuestro robot, incluyendo su estructura, hardware, software, resultados alcanzados y trabajos futuros. | es-ES |
| dc.format | application/pdf | |
| dc.identifier | https://revistas.udistrital.edu.co/index.php/visele/article/view/21881 | |
| dc.identifier.uri | http://hdl.handle.net/11349/103383 | |
| dc.language | eng | |
| dc.publisher | Universidad Distrital Francisco José de Caldas | es-ES |
| dc.relation | https://revistas.udistrital.edu.co/index.php/visele/article/view/21881/21445 | |
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| dc.rights | http://creativecommons.org/licenses/by-nc/4.0 | es-ES |
| dc.source | Visión electrónica; Vol. 17 No. 2 (2023); 208-219 | en-US |
| dc.source | Visión electrónica; Vol. 17 Núm. 2 (2023); 208-219 | es-ES |
| dc.source | 2248-4728 | |
| dc.source | 1909-9746 | |
| dc.subject | Crop rows following | en-US |
| dc.subject | Differential drive mobile robot prototype | en-US |
| dc.subject | Fuzzy control | en-US |
| dc.subject | IMU | en-US |
| dc.subject | LIDAR | en-US |
| dc.subject | ROS | en-US |
| dc.subject | Seguimiento de hileras de cultivos | es-ES |
| dc.subject | Prototipo de robot móvil de accionamiento diferencial | es-ES |
| dc.subject | Control difuso | es-ES |
| dc.subject | IMU | es-ES |
| dc.subject | LIDAR | es-ES |
| dc.subject | ROS | es-ES |
| dc.title | A differential drive mobile robot controlled by using the robotics operational system (ROS) | en-US |
| dc.title | Un robot móvil de accionamiento diferencial controlado mediante el sistema operativo robótico (ROS) | es-ES |
| dc.type | info:eu-repo/semantics/article | |
| dc.type | info:eu-repo/semantics/publishedVersion |