Hardware in the Loop Topology for an Omnidirectional Mobile Robot Using Matlab in a Robot Operating System Environment
The symmetry of the omnidirectional robot motion abilities around its central vertical axis is an important advantage regarding its driveability for the flexible interoperation with fixed conveyor systems. The paper illustrates a Hardware in the Loop architectural approach for integrated development...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-05-01
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| Series: | Symmetry |
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| Online Access: | https://www.mdpi.com/2073-8994/13/6/969 |
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| author | Constantin-Catalin Dosoftei Alexandru-Tudor Popovici Petru-Razvan Sacaleanu Paul-Marcelin Gherghel Cristina Budaciu |
| author_facet | Constantin-Catalin Dosoftei Alexandru-Tudor Popovici Petru-Razvan Sacaleanu Paul-Marcelin Gherghel Cristina Budaciu |
| author_sort | Constantin-Catalin Dosoftei |
| collection | DOAJ |
| description | The symmetry of the omnidirectional robot motion abilities around its central vertical axis is an important advantage regarding its driveability for the flexible interoperation with fixed conveyor systems. The paper illustrates a Hardware in the Loop architectural approach for integrated development of an Ominidirectional Mobile Robot that is designed to serve in a dynamic logistic environment. Such logistic environments require complex algorithms for autonomous navigation between different warehouse locations, that can be efficiently developed using Robot Operating System nodes. Implementing path planning nodes benefits from using Matlab-Simulink, which provides a large selection of algorithms that are easily integrated and customized. The proposed solution is deployed for validation on a NVIDIA Jetson Nano, the embedded computer hosted locally on the robot, that runs the autonomous navigation software. The proposed solution permits the live connection to the omnidirectional prototype platform, allowing to deploy algorithms and acquire data for debugging the location, path planning and the mapping information during real time autonomous navigation experiments, very useful in validating different strategies. |
| first_indexed | 2024-03-10T10:53:13Z |
| format | Article |
| id | doaj.art-f421a125e118437b8b4c8ba9ae703049 |
| institution | Directory Open Access Journal |
| issn | 2073-8994 |
| language | English |
| last_indexed | 2024-03-10T10:53:13Z |
| publishDate | 2021-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Symmetry |
| spelling | doaj.art-f421a125e118437b8b4c8ba9ae7030492023-11-21T22:08:09ZengMDPI AGSymmetry2073-89942021-05-0113696910.3390/sym13060969Hardware in the Loop Topology for an Omnidirectional Mobile Robot Using Matlab in a Robot Operating System EnvironmentConstantin-Catalin Dosoftei0Alexandru-Tudor Popovici1Petru-Razvan Sacaleanu2Paul-Marcelin Gherghel3Cristina Budaciu4Department of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, 700050 Iasi, RomaniaDepartment of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, 700050 Iasi, RomaniaDepartment of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, 700050 Iasi, RomaniaDepartment of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, 700050 Iasi, RomaniaDepartment of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, 700050 Iasi, RomaniaThe symmetry of the omnidirectional robot motion abilities around its central vertical axis is an important advantage regarding its driveability for the flexible interoperation with fixed conveyor systems. The paper illustrates a Hardware in the Loop architectural approach for integrated development of an Ominidirectional Mobile Robot that is designed to serve in a dynamic logistic environment. Such logistic environments require complex algorithms for autonomous navigation between different warehouse locations, that can be efficiently developed using Robot Operating System nodes. Implementing path planning nodes benefits from using Matlab-Simulink, which provides a large selection of algorithms that are easily integrated and customized. The proposed solution is deployed for validation on a NVIDIA Jetson Nano, the embedded computer hosted locally on the robot, that runs the autonomous navigation software. The proposed solution permits the live connection to the omnidirectional prototype platform, allowing to deploy algorithms and acquire data for debugging the location, path planning and the mapping information during real time autonomous navigation experiments, very useful in validating different strategies.https://www.mdpi.com/2073-8994/13/6/969logistic robotomnidirectional mobile robotkinematic modelsymmetrical configurationhardware in the loopnavigation |
| spellingShingle | Constantin-Catalin Dosoftei Alexandru-Tudor Popovici Petru-Razvan Sacaleanu Paul-Marcelin Gherghel Cristina Budaciu Hardware in the Loop Topology for an Omnidirectional Mobile Robot Using Matlab in a Robot Operating System Environment Symmetry logistic robot omnidirectional mobile robot kinematic model symmetrical configuration hardware in the loop navigation |
| title | Hardware in the Loop Topology for an Omnidirectional Mobile Robot Using Matlab in a Robot Operating System Environment |
| title_full | Hardware in the Loop Topology for an Omnidirectional Mobile Robot Using Matlab in a Robot Operating System Environment |
| title_fullStr | Hardware in the Loop Topology for an Omnidirectional Mobile Robot Using Matlab in a Robot Operating System Environment |
| title_full_unstemmed | Hardware in the Loop Topology for an Omnidirectional Mobile Robot Using Matlab in a Robot Operating System Environment |
| title_short | Hardware in the Loop Topology for an Omnidirectional Mobile Robot Using Matlab in a Robot Operating System Environment |
| title_sort | hardware in the loop topology for an omnidirectional mobile robot using matlab in a robot operating system environment |
| topic | logistic robot omnidirectional mobile robot kinematic model symmetrical configuration hardware in the loop navigation |
| url | https://www.mdpi.com/2073-8994/13/6/969 |
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