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Yocto Project 기반 ROS2 를 탑재한 청소로봇시스템 개발
김윤성(Yun-Sung Kim),이돈근(Don-geon Lee),정성훈(Seong-hoon Jeong),문형일(Hyeong-il Moon),유창승(Chang-seung Yu),이강영(Kang-young Lee),최준열(June-youl Choi) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.1
In this paper, an embedded system with ROS2(Robot Operating System) on Yocto Project has been proposed for the cleaning of robots. Yocto Project was adopted for portability and scalability in both software and hardware, and ROS2 was adopted and optimized for secure performance, security, and scalability. A Gazebo-based robot simulator modeled robots and 3D world, and the SLAM, Navigation, Path Planning, and Motion functions were implemented and verified. After modifying and optimizing the software packages implemented in the simulator, autonomous driving of the cleaning robot was verified. The possibility of commercialization was verified as well, through performance evaluation and improvement of the proposed cleaning robot system.