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Raspberry Pi robot with ROS

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В презентации описан опыт создания робота с нуля на базе Raspberry Pi и недорогих актуаторов и сенсоров. Представлены примеры двух разработанных поколений роботов, детально описана одна из последних версий, собранная на базе деталей конструктора Trik. Описанная модель имеет дифференциальное управление (используются два мотора с энкодерами), ультразвуковой сенсор, камеру. Питание организовано от 11.1V батареи через UBEC. Прошивка робота реализована на базе ROS и состоит из нескольких модулей.

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Raspberry Pi robot with ROS

  1. 1. Design of mobile robot on Raspberry Pi Arthur Huletski, Dmitriy Kartashov The Academic University, Saint-Petersburg 2015 Artur Huletski, Dmitriy Kartashov (APTU) 2015 1 / 9
  2. 2. Motivation Why do we need physical robot for research related to robotics? Drawbacks of software simulators don’t provide precise sensor model don’t simulate unwitting environment changes aren’t such fun as physical robot Robot requirements framework should be firm enough to carry sensors robot should be extendable with sensors and circuits robot should be assembled from affordable parts Artur Huletski, Dmitriy Kartashov (APTU) 2015 2 / 9
  3. 3. The first prototype Parts Lego Technic SG90 (steering) HCRS-04 (sonar) 28BYJ-48 (s. rotation) noname DC (movement) Drawbacks Ackerman steering fragile Artur Huletski, Dmitriy Kartashov (APTU) 2015 3 / 9
  4. 4. The second attempt: Steel Lemon (SL) Artur Huletski, Dmitriy Kartashov (APTU) 2015 4 / 9
  5. 5. Hardware scheme Raspberry Pi B Arduino Uno L298-based PCB JGA25-375 JGA25-375 HCSR-04 Camera UBEC 3:2 Voltage Divider 3:2 Voltage Divider 11.1V battery 11.1V 5V 5V 5V Motors On/Off 11.1V 11.1V Encoder Data Trig request 5V response 3V response 5V 5V 5V USB 5V ping 3V ping [I2C] Movement request Artur Huletski, Dmitriy Kartashov (APTU) 2015 5 / 9
  6. 6. SL description: Hardware Used parts Bones: Trik parts (Meccano-like clone) Brain: Raspberry Pi B (RPi) Spinal Cord: Arduino Uno (ArdU) Legs: 2 x JGA25-375 (DC motors with encoders) Eyes: HCSR-04 (sonar) + usb camera Details UBEC is used to convert battery voltage to 5V L298 PCB is used to control direction of motors rotation ArdU is used to control movement distance RPi and Arduino communicate via I2C voltage divider is used to connect HCSR-04 to RPi Artur Huletski, Dmitriy Kartashov (APTU) 2015 6 / 9
  7. 7. SL description: Software ROS framework is used as base. Implemented modules HCSR-04 driver. Idea: measure duration of high signal on Echo port Motor driver RPi part converts distance and angle to encoder ticks ArdU part counts encoder ticks, controls motors rotation Artificial landmark detector Main controller that provides command line robot interface Detector Main controller Camera Sensor Motors Artur Huletski, Dmitriy Kartashov (APTU) 2015 7 / 9
  8. 8. Consclusion Designed robot meets initial requirements and has already been used for development artificial landmark detector. Future merge ArdU and L298 PCB into single circuit to save space add support of arc trajectory movement to motor driver add sonar-motor direct communication Artur Huletski, Dmitriy Kartashov (APTU) 2015 8 / 9
  9. 9. SL: Current version New parts Sharp GP2Y0A021YK (IR range finder) 28BYJ-48 (rotation) I2C voltage level regulator Issue BCM2835 hardware bug related to I2C clock stretching “WA” Slow down I2C baud rate Artur Huletski, Dmitriy Kartashov (APTU) 2015 9 / 9

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