کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Design and Implementation of a Modular ROS-based Mobile Robot With Hierarchical Control

نویسندگان :

Erfan Riazati¹ Arian Hajizadeh² Seyed Majid Esmailzadeh³

1- Iran University of Science and Technology (IUST) 2- Iran University of Science and Technology (IUST) 3- Iran University of Science and Technology (IUST)

کلمات کلیدی :

mobile robots،hierarchical control،distributed control،navigation،SLAM،ROS

چکیده :

Today, mobile robots are widely utilized in many industrial and research applications, and several platforms have been developed for these purposes. However, most existing frameworks only provide access to specific control inputs, limiting their adaptability for tasks that require full control over all signals. To address this issue, this paper discusses the design and implementation of a differential-drive mobile robot with a hierarchical control architecture. The proposed design consists of two primary layers: (i) an embedded low-level controller that is responsible for real-time motor control and sensor readings, and (ii) a Single-Board Computer (SBC) that is the high-level controller, responsible for decision-making, perception, and human-machine interactions. These two control levels are connected via a custom communication protocol. Consequently, within this paradigm, users can design dynamic controllers for motor speed compensation and implement real-time sensor filtering and fusion at the hardware level. Furthermore, the proposed design is fully compatible with the Robot Operating System (ROS) and Gazebo. The effectiveness of the proposed platform is demonstrated by leveraging Simultaneous Localization and Mapping (SLAM) and navigation algorithms at the robot control level while integrating custom controllers, such as a Proportional Integral Derivative (PID) controller, at the hardware control level. To validate these claims, we will analyze performance through error and repeatability diagrams.