Development of an AlphaBot2 Simulator for RPi Camera and Infrared Sensors

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2020

Autores

Rafael, A (Autor) Outra; Santos, C (Autor) Outra; Duque, D (Autor) Outra; Fernandes, S (Autor) FEUP; Armando Jorge Sousa (Autor) FEUP; reis, lp (Autor) FEUP

Ata de Conferência Internacional

Título: FOURTH IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, ROBOT 2019, VOL 1

Páginas: 502-514

4th Iberian Robotics Conference (Robot) - Advances in Robotics

Porto, PORTUGAL, NOV 20-22, 2019

Indexação

ISI Web of Knowledge - 3 Citações

Scopus - 2 Citações

Outras Informações

ID Authenticus: P-00R-DRQ

DOI: 10.1007/978-3-030-35990-4_41

Abstract (EN): In recent years robots have been used as a tool for teaching purposes, motivating the development of fully virtual environments for combined real/simulated robotics teaching. The AlphaBot2 Raspberry Pi (RPi), a robot used for education, has no currently available simulator. A Gazebo simulator was produced and a ROS framework was implemented for hardware abstraction and control of low-level modules facilitating students control of the robot's physical behaviours in the real and simulated robot, simultaneously. For the demonstration of the basic model operation, an algorithm for detection of obstacles and lines was implemented for the IR sensors, however, some discrepancies in a line track timed test were detected justifying the need for further work in modelling and performance assessment. Despite that, the implemented ROS structure was verified to be functional in the simulation and the real AlphaBot2 for its motion control, through the input sensors and camera.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 13