SMARTmBOT：ROS2ベースの低コスト・オープンソース移動ロボットプラットフォーム
SMARTmBOT: A ROS2-based Low-cost and Open-source Mobile Robot Platform
1台約210ドルで3Dプリンタ製の部品を多用し、ROS2上で単体・群ロボット研究や教育に使えるオープンソース移動ロボットを開発し、ナビゲーションや群制御で有効性を検証した。
著者: Wonse Jo, Jaeeun Kim, Ruiqi Wang, Jeremy Pan, Revanth Krishna Senthilkumaran, Byung-Cheol Min
分類: cs.RO, cs.AR, cs.SY, eess.SY
原文アブストラクト
This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily achievable and effective robot platform to support broad robotics research and education involving either single-robot or multi-robot systems. The total cost per robot is approximately $210, and most hardware components can be fabricated by a generic 3D printer, hence allowing users to build the robots or replace any broken parts conveniently. The SMARTmBot is also equipped with a rich range of sensors, making it competent for general task scenarios, such as point-to-point navigation and obstacle avoidance. We validated the mobility and function of SMARTmBOT through various robot navigation experiments and applications with tasks including go-to-goal, pure-pursuit, line following, and swarming. All source code necessary for reading sensors, streaming from an embedded camera, and controlling the robot including robot navigation controllers is available through an online repository that can be found at https://github.com/SMARTlab-Purdue/SMARTmBOT.
