Desenvolvimento de um Robô Móvel Open Source Baseado em ROS 2 para Pesquisa em Robótica Cooperativa

Abstract

Mobile robotics is an area in constant evolution, with constant research. In this regard, it is common to need a robotic platform to investigate hypotheses of scientific research in practice. Therefore, the acquisition or assembly of a robot is necessary. However, the construction can be complex or not be directly related to the scope of the study (such as the implementation of software features), which leads to reduced time loss, while that the purchase can be frustrated by the high prices. Furthermore, finding low-cost, well-documented mobile robots that make reproduction possible is not trivial. Seeking to fill these gaps, the present work proposes the development of a mobile robotic platform, called SciCoBot (Science, Coffee and Robot), of low cost, modular and expansive, based on ROS 2, micro-ROS, Arduino Due and Raspberry Pi. The platform is idealized as a research tool for topics related to a robotic cooperative, mainly for employment at Universidade Federal de Uberlândia, Patos de Minas campus. For this, an initial version with some sensors was assembled and a modular code architecture for Arduino and Raspberry was developed. Seeking to validate the built version, software applications with the sensors were exemplified and documented on GitHub. With the robotic platform ready and functional, it was possible to compare it with other structures, where SciCoBot stands out for specific use in the UFU, since it has devices available in the laboratory, which enhances the low cost and allows UFU designers to use their previous knowledge to understand the robot. Furthermore, this work provides a good review of robotic structures available in the open-source community.