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ROS-based Robotic Platform with High-precision stepping motor control
Shengmin Zhao,Sang-Moon Lee,Seung-Hoon Hwang 한국통신학회 2022 한국통신학회 학술대회논문집 Vol.2022 No.2
Robot technology is rapidly expanding from traditional industrial manufacturing to home services, medical care, education and entertainment, rescue exploration, military applications, and other fields. In this paper, a new Robot Operating System (ROS) based robotic platform is proposed. Robot technology is rapidly expanding from traditional industrial manufacturing to home services, medical care, education, rescue exploration, military applications, etc. In this paper, we propose a Robot Operating System (ROS) based robotic platform with stepping motor which has high precision advantage. This robotic platform is focused on the control of a stepping motor and combination with sensors such as 2D-Lidar, Inertial measurement unit (IMU) to achieve Simultaneous localization and mapping (SLAM) and navigation function. Furthermore, we propose a speed control algorithm for stepping motor, which can convert the speed command published by SBC into a PWM signal. Finally, at the corridor scenario, we tested the 2D-Lidar mapping and autonomous navigation functions of the proposed robotic platform. The experimental results show that under the high precision movement of the stepper motor, the robot platform has good mapping capabilities and high-precision autonomous navigation capabilities in unknown environments. Based on the simulation result, conclusion can be obtained.
Complete coverage path planning scheme for autonomous navigation ROS-based robots
Zhao Shengmin,황승훈 한국통신학회 2024 ICT Express Vol.10 No.1
In this paper, a new Complete Coverage Path Planning (CCPP) scheme is proposed which combines path planning and dynamic tracking for robot operating system-based robots. For the path planning, firstly a sub-area division algorithm is considered to decompose the occupancy map according to the wall or obstacle position after simultaneous localization and mapping process. For each sub-area, an “S” shape path planning is employed, and then a Bidirectional A-star connects them. Additionally, the dynamic tracking ensures that the robot moves continuously. Simulation results show that the coverage ratio of the planning path is improved as 98% by the proposed scheme.