کنفرانس مهندسی برق ایران

صفحه اصلی / سی و چهارمین کنفرانس بین المللی مهندسی برق

SMART-RABO: A Distributed Control and Localization Framework using micro-ROS

نویسندگان :

Kaveh Hooshmandi¹

1- دانشگاه صنعتی اراک

کلمات کلیدی :

Mobile Robot،Localization،Distributed Control،Sensor Fusion،Kalman Filter

چکیده :

This paper introduces SMART-RABO, a modular, cost-effective, and open-source mobile robot platform designed to bridge the gap between resource-constrained hardware and high-level robotic frameworks via micro-ROS. Utilizing a distributed control architecture, the system uses an ESP32 microcontroller for low-level tasks, including real-time PID motor regulation and high-frequency sensor acquisition, while offloading computationally intensive control and localization algorithms to a host workstation. A core contribution of this work is a sensor fusion strategy that integrates wheel odometry with Inertial Measurement Unit (IMU) data through a Kalman Filter to decrease cumulative encoder drift. Furthermore, the platform features a servo-driven plotting mechanism that translates standard \texttt{geometry\_msgs/Twist} velocity commands into physical trajectory traces, providing a tangible medium for algorithm verification. Experimental results demonstrate that the proposed localization and control framework enables the robot to achieve autonomous goal navigation with well precision. The SMART-RABO platform offers a affordable (\$ 50), and high-performance solution for both educational use and advanced research in autonomous mobile robotics.