TY - GEN
T1 - Design of ROS-based Robotic Platform with High-precision stepping motor control
AU - Zhao, Shengmin
AU - Lee, Sang Moon
AU - Hwang, Seung Hoon
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Robot technology rapidly expands from traditional industrial manufacturing to home services, medical care, education, rescue exploration, and military applications. In this paper, we design a Robot Operating System (ROS) based robotic platform with a stepping motor with a high precision advantage. This robotic platform is focused on controlling a stepping motor and combination with sensors such as 2D-Lidar, and Inertial Measurement Unit (IMU) to achieve Simultaneous localization and mapping (SLAM) and navigation function. Furthermore, we propose a speed control algorithm for the stepping motor, which can convert the speed command published by Single Board Computer (SBC) into a Pulse-width modulation (PWM) signal. Finally, in the corridor scenario, we tested the robotic platform's 2D-Lidar mapping and autonomous navigation functions. The experimental results show that the robot platform has the good mapping and high-precision autonomous navigation capabilities.
AB - Robot technology rapidly expands from traditional industrial manufacturing to home services, medical care, education, rescue exploration, and military applications. In this paper, we design a Robot Operating System (ROS) based robotic platform with a stepping motor with a high precision advantage. This robotic platform is focused on controlling a stepping motor and combination with sensors such as 2D-Lidar, and Inertial Measurement Unit (IMU) to achieve Simultaneous localization and mapping (SLAM) and navigation function. Furthermore, we propose a speed control algorithm for the stepping motor, which can convert the speed command published by Single Board Computer (SBC) into a Pulse-width modulation (PWM) signal. Finally, in the corridor scenario, we tested the robotic platform's 2D-Lidar mapping and autonomous navigation functions. The experimental results show that the robot platform has the good mapping and high-precision autonomous navigation capabilities.
KW - 2D-Lidar
KW - Autonomous navigation
KW - Robot Operating System
KW - Robotic platform
KW - Simultaneous localization and mapping
KW - Stepping motor control systems
UR - http://www.scopus.com/inward/record.url?scp=85141545586&partnerID=8YFLogxK
U2 - 10.1109/APWCS55727.2022.9906507
DO - 10.1109/APWCS55727.2022.9906507
M3 - Conference contribution
AN - SCOPUS:85141545586
T3 - APWCS 2022 - 2022 IEEE VTS Asia Pacific Wireless Communications Symposium
SP - 117
EP - 121
BT - APWCS 2022 - 2022 IEEE VTS Asia Pacific Wireless Communications Symposium
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE VTS Asia Pacific Wireless Communications Symposium, APWCS 2022
Y2 - 24 August 2022 through 25 August 2022
ER -