C. Márquez-Sánchez, M. Antonio-Cruz, J. Sandoval-Gutiérrez, Víctor Eduardo Quiroz-Velázquez, C. Merlo-Zapata
{"title":"Construction of a Low-cost Wheeled Mobile Robot for Testing Automatic Control Techniques","authors":"C. Márquez-Sánchez, M. Antonio-Cruz, J. Sandoval-Gutiérrez, Víctor Eduardo Quiroz-Velázquez, C. Merlo-Zapata","doi":"10.1109/ICMEAE.2019.00026","DOIUrl":null,"url":null,"abstract":"This paper presents the construction of a low-cost wheeled mobile robot, of the differential type, for testing automatic control techniques. The elements integrating the robot can be grouped in hardware and software. The hardware can be divided in primary and secondary one. The primary hardware refers to an Arduino UNO board and a Raspberry Pi 3 B+ single board computer, which shall execute control techniques. The secondary hardware is associated with the sensors, DC motors, power stage, and chassis of the robot. It is important to stress that hardware was selected by considering price, capabilities, features, and suppliers or distributors. In the case of the primary hardware, the elements were chosen by taking into account the programming languages that support. Hence, all the hardware elements of the robot are relatively cheap, have mid-range features, and can be easily acquired. The primary hardware supports languages as C++, Python, and Java. Therefore, free software was used to program the Arduino UNO and Raspberry Pi 3 B+ boards. Lastly, in order to validate that the proposed low-cost robot is useful to test control techniques, a trajectory tracking control is successfully implemented. The obtained results motivate authors to use the built robot as didactic material to teach science, technology, engineering, and mathematics subjects in high-school and university, with the intention of improving the skills of students.","PeriodicalId":422872,"journal":{"name":"2019 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"154 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMEAE.2019.00026","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This paper presents the construction of a low-cost wheeled mobile robot, of the differential type, for testing automatic control techniques. The elements integrating the robot can be grouped in hardware and software. The hardware can be divided in primary and secondary one. The primary hardware refers to an Arduino UNO board and a Raspberry Pi 3 B+ single board computer, which shall execute control techniques. The secondary hardware is associated with the sensors, DC motors, power stage, and chassis of the robot. It is important to stress that hardware was selected by considering price, capabilities, features, and suppliers or distributors. In the case of the primary hardware, the elements were chosen by taking into account the programming languages that support. Hence, all the hardware elements of the robot are relatively cheap, have mid-range features, and can be easily acquired. The primary hardware supports languages as C++, Python, and Java. Therefore, free software was used to program the Arduino UNO and Raspberry Pi 3 B+ boards. Lastly, in order to validate that the proposed low-cost robot is useful to test control techniques, a trajectory tracking control is successfully implemented. The obtained results motivate authors to use the built robot as didactic material to teach science, technology, engineering, and mathematics subjects in high-school and university, with the intention of improving the skills of students.
本文介绍了一种低成本的轮式差动移动机器人的结构,用于测试自动控制技术。集成机器人的元件可以分为硬件和软件两部分。硬件可分为主硬件和从硬件。主硬件为Arduino UNO板和Raspberry Pi 3b +单板计算机,执行控制技术。二级硬件与传感器、直流电机、电源级和机器人的底盘相关联。需要强调的是,硬件是通过考虑价格、功能、特性和供应商或分销商来选择的。在主要硬件的情况下,通过考虑所支持的编程语言来选择元素。因此,机器人的所有硬件元素都相对便宜,具有中档功能,并且易于获得。主要硬件支持c++、Python和Java等语言。因此,使用免费软件对Arduino UNO和Raspberry Pi 3b +板进行编程。最后,为了验证所提出的低成本机器人可用于测试控制技术,成功实现了轨迹跟踪控制。获得的结果激励作者使用构建的机器人作为教学材料,在高中和大学教授科学、技术、工程和数学学科,以提高学生的技能。