Publicado:

2021-12-24

Número:

Vol. 18 Núm. 2 (2021): Revista Tekhnê

Sección:

Artículos

TurtleBot3 robot operation for navigation applications using ROS

Manejo del robot TurtleBot3 para aplicaciones de navegación mediante ROS

Autores/as

Palabras clave:

Aprendizaje, investigación, navegación, robótica, ROS, TurtleBot3 (es).

Palabras clave:

Learning, navigation, research, robotics, ROS, TurtleBot3 (en).

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Resumen (en)

Logo is a programming language that was born in 1967 as a tool for learning programming. Its concept was simple, assign commands to a virtual turtle to trigger its movement. TurtleBot is a robotics research platform with development based on this concept. However, this platform is both hardware and software oriented and is widely accepted internationally, particularly in SLAM (Simultaneous Localization And Mapping), navigation, and manipulation applications. In fact, it is the standard ROS (Robot Operating System) platform. This paper aims to show the handling and programming of this robot for navigation applications using ROS and Python.

Resumen (es)

Logo es un lenguaje de programación que nació en 1967 como herramienta para de aprendizaje en programación. Su concepto era simple, asignar órdenes a una tortuga virtual a fin de provocar su movimiento. TurtleBot es una plataforma de investigación robótica con desarrollo basado en este concepto. Sin embargo, esta plataforma está orientada tanto al hardware como al software, y posee gran aceptación a nivel internacional, particularmente en aplicaciones de SLAM (Simultaneous Localization And Mapping), navegación y manipulación. De hecho, es la plataforma estándar de ROS (Robot Operating System). Este documento pretende mostrar el manejo y programación de este robot para aplicaciones de navegación con el uso de ROS y Python.

Referencias

Al-Mashhadani, Z., Mainampati, M., & Chandrasekaran, B. Autonomous exploring map and navigation for an agricultural robot. In: 2020 3rd international conference on control and robots (ICCR). 2020, 1–6. https://doi.org/10.1109/ICCR51572.2020.9344404.

Aslan, M. F., Durdu, A., Yusefi, A., Sabanci, K., & Sungur, C. (2021). A tutorial: Mobile robotics, SLAM, bayesian filter, keyframe bundle adjustment and ROS applications. Studies in computational intelligence (pp. 227–269). Springer International Publishing. https://doi.org/10.1007/978-3-030-75472-3_7

Fernandes, J., Li, K., Mirabile, J., & Vesonder, G. Application of robot operating system in robot flocks. In: 2019 IEEE 10th annual ubiquitous computing, electronics & mobile communication conference (UEMCON). 2019, 1–6. https://doi.org/10.1109/UEMCON47517.2019.8993017.

Groß, D. T. (2021). An implementation approach of the gap navigation tree using the turtlebot 3 burger and ros kinetic (Master’s thesis). FH Vorarlberg (Fachhochschule Vorarlberg). FH Vorarlberg (Fachhochschule Vorarlberg). https://doi.org/10.25924/opus-3888

Hou, Y. C., Sahari, K. S. M., Weng, L. Y., Foo, H. K., Rahman, N. A. A., Atikah, N. A., & Homod, R. Z. (2020). Development of collision avoidance system for multiple autonomous mobile robots. International Journal of Advanced Robotic Systems, 17(4), 172988142092396. https://doi.org/10.1177/1729881420923967

Koubaa, A. (2020). Robot operating system - the complete reference (Vol. 4). Springer.

Lee, S.-O., Cho, Y.-J., Hwang-Bo, M., You, B.-J., & Oh, S.-R. A stable target-tracking control for unicycle mobile robots. In: Proceedings. 2000 IEEE/RSJ international conference on intelligent robots and systems (IROS 2000) (cat. no.00ch37113). 2000, 1–6. https://doi.org/10.1109/IROS.2000.895236.

Lentin, J. (2018). Robot operating system (ros) for absolute beginners. Apress.

Moreno, A., & Páez, D. (2017). Performance evaluation of ros on the raspberry pi platform as os for small robots. Tekhnê, 14(1), 61–72.

Poza-Lujan, J.-L., Posadas-Yagüe, J.-L., Munera, E., Simó, J. E., & Blanes, F. Object recognition: Distributed architecture based on heterogeneous devices to integrate sensor information. In: Distributed computing and artificial intelligence, 16th international conference. 2019, 181–188. https://doi.org/10.1007/978-3-030-23887-2_21.

Quigley, M., Conley, K., Gerkey, B., & Faust, J. Ros: An open-source robot operating system. In: Icra workshop on open source software. 2009, 1–6.

Ratul, M. T. A., Mahmud, M. S. A., Abidin, M. S. Z., & Ayop, R. Design and development of GMapping based SLAM algorithm in virtual agricultural environment. In: 2021 11th IEEE international conference on control system, computing and engineering (ICCSCE). 2021. https://doi.org/10.1109/ICCSCE52189.2021.9530991.

Cómo citar

APA

Martínez S., F. H. (2021). TurtleBot3 robot operation for navigation applications using ROS. Tekhnê, 18(2), 19–24. Recuperado a partir de https://revistas.udistrital.edu.co/index.php/tekhne/article/view/19261

ACM

[1]
Martínez S., F.H. 2021. TurtleBot3 robot operation for navigation applications using ROS. Tekhnê. 18, 2 (dic. 2021), 19–24.

ACS

(1)
Martínez S., F. H. TurtleBot3 robot operation for navigation applications using ROS. Tekhnê 2021, 18, 19-24.

ABNT

MARTÍNEZ S., F. H. TurtleBot3 robot operation for navigation applications using ROS. Tekhnê, [S. l.], v. 18, n. 2, p. 19–24, 2021. Disponível em: https://revistas.udistrital.edu.co/index.php/tekhne/article/view/19261. Acesso em: 26 sep. 2022.

Chicago

Martínez S., Fredy H. 2021. «TurtleBot3 robot operation for navigation applications using ROS». Tekhnê 18 (2):19-24. https://revistas.udistrital.edu.co/index.php/tekhne/article/view/19261.

Harvard

Martínez S., F. H. (2021) «TurtleBot3 robot operation for navigation applications using ROS», Tekhnê, 18(2), pp. 19–24. Disponible en: https://revistas.udistrital.edu.co/index.php/tekhne/article/view/19261 (Accedido: 26septiembre2022).

IEEE

[1]
F. H. Martínez S., «TurtleBot3 robot operation for navigation applications using ROS», Tekhnê, vol. 18, n.º 2, pp. 19–24, dic. 2021.

MLA

Martínez S., F. H. «TurtleBot3 robot operation for navigation applications using ROS». Tekhnê, vol. 18, n.º 2, diciembre de 2021, pp. 19-24, https://revistas.udistrital.edu.co/index.php/tekhne/article/view/19261.

Turabian

Martínez S., Fredy H. «TurtleBot3 robot operation for navigation applications using ROS». Tekhnê 18, no. 2 (diciembre 24, 2021): 19–24. Accedido septiembre 26, 2022. https://revistas.udistrital.edu.co/index.php/tekhne/article/view/19261.

Vancouver

1.
Martínez S. FH. TurtleBot3 robot operation for navigation applications using ROS. Tekhnê [Internet]. 24 de diciembre de 2021 [citado 26 de septiembre de 2022];18(2):19-24. Disponible en: https://revistas.udistrital.edu.co/index.php/tekhne/article/view/19261

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