Simulation of a Two-wheeled Self-balancing Wheelchair using ROS-Gazebo

Haghighat, Mohammad R.; Sadeghnejad, Soroush

doi:10.1109/icrom57054.2022.10025177

Cited by 4 publications

(2 citation statements)

References 12 publications

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“…Algunos trabajos basados en ROS se pueden encontrar en (Gentilini et al, 2021;Martin et al, 2021;Mišeikis et al, 2020;Haghighat y Sadeghnejad, 2022). Sin embargo, la mayoría de los robots que integran el ROS-middleware pertenecen a empresas ya establecidas.…”

Section: Sistema Operativo Robótico Rosunclassified

Plataforma experimental para el modelado y control de robots omnidireccionales

Leal-Ramos,

Jonguitud-Indalecio,

Ortíz-Michimani

et al. 2024

ICBI

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En este artículo es presentada una plataforma experimental para el desarrollo de algoritmos de robótica, control y aprendizaje. La arquitectura propuesta basada en ROS es abierta, permitiendo la integración de diferentes sensores, unidades de procesamiento y robots. Un Controlador por Rechazo Activo de Perturbaciones (CRAP) es diseñado sobre un robot omnidireccional para validar la plataforma desarrollada. Incertidumbres paramétricas, la fricción de las ruedas sobre la superficie y las perturbaciones externas son agrupadas en una perturbación total, la cual es estimada por un Observador de Estado Extendido y y compensada mediante un término feedforward en la ley de control. El robot omnidireccional se puede comunicar a través de ROS mediante un sistema de captura de movimiento (servidor). Se presentan los resultados de las simulaciones y experimentos en tiempo real. El algoritmo de control es ligero y fácil de implementar y ajustar en sistemas embebidos con pocos recursos computacionales o de bajo costo.

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Section: Sistema Operativo Robótico Rosunclassified

Plataforma experimental para el modelado y control de robots omnidireccionales

Leal-Ramos,

Jonguitud-Indalecio,

Ortíz-Michimani

et al. 2024

ICBI

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“…ROS allows you to manage the different layers and parallelize the processes and their communication with sensors, actuators, and processing units. Some ROS-based works can be found at [39], [40], [41], [42]. However, most robots that integrate ROS-middleware belong to already established companies.…”

Section: Introductionmentioning

confidence: 99%

ADRC Attitude Controller Based on ROS for a Two-Wheeled Self-Balancing Mobile Robot

Muñoz-Hernandez,

Díaz-Téllez,

Estevez-Carreon

et al. 2023

IEEE Access

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In this investigation, ROS-based robust attitude control is designed for a two-wheeled selfbalancing mobile robot (TWSBR) using the active disturbance rejection control (ADRC) technique. The designed ROS framework contemplates communication between topics for the desired robot commands and distributed framework design. This open architecture allows the integration of sensors, actuators, and processors. The architecture includes User-Friendly Interface, storage, navigation, control, and drivers. The low-cost robot was designed for educational purposes. It uses an Arduino Mega as a low-level processing unit, a Raspberry Pi 4 as a companion computer where high-level commands are processed, an MPU6050 Inertial Measurement Unit sensor, DC motors GW4058-555 with quadrature type encoder with two phases, the VNH2SP30 controller module used as the power stage and a Lithium Polymer (Li-Po) battery (11.1 V, 2200 mah) is used as the power source. The robust control algorithm is designed through the ADRC methodology based on the extended state observer (ESO). The ESO simultaneously estimates external disturbances, model uncertainties, and unmodeled dynamics such as friction, engine wear, and tire slippage. The stability of the developed controller is analyzed via the Lyapunov stability theory. Real-time experimental results are carried out under the regulation and rejection of external disturbances. The control algorithm is light and easy to implement and adjust in integrated systems with low computer resources. INDEX TERMS ADRC, ESO, Mobile Robot, ROS, Two-wheeled self-balancing, Segway.

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Experimental Comparison of Global Planners for Trajectory Planning of Mobile Robots in an Unknown Environment with Dynamic Obstacles

Tüfekçi

Erdemir

2023

2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)

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Simulation of a Two-wheeled Self-balancing Wheelchair using ROS-Gazebo

Cited by 4 publications

References 12 publications

Plataforma experimental para el modelado y control de robots omnidireccionales

Plataforma experimental para el modelado y control de robots omnidireccionales

ADRC Attitude Controller Based on ROS for a Two-Wheeled Self-Balancing Mobile Robot

Experimental Comparison of Global Planners for Trajectory Planning of Mobile Robots in an Unknown Environment with Dynamic Obstacles

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