Low-cost embedded computer for mobile robot platform based on Raspberry Board
Vitor Akihiro Hisano Higuti1; Henry Borrero Guerrero1; Andrés Eduardo Baquero Velasquez1; Renan Moreira1; Livia Martinelli Tinelli1; Marcelo Becker2; Daniel Varela Magalhães2; Juan Fajardo Barrero3; Debora Marcondes Bastos Pereira Milori4
1 EESC USP; 2 EESC; 3 Universidad de los Llanos; 4 Embrapa Instrumentation
doi:10.20906/CPS/COB-2015-0336
Resumo
Nowadays embedded computers are becoming more popular and available for everybody. Due to this, computational costs may be reduced. Based on this, we decided to evaluate the use of a Raspberry Pi B+ as the main control unit for an experimental mobile platform. In order to carry out the tests we developed a controller for a differential drive mobile robot to achieve wall-following navigation which will keep it at a desired distance to the wall nearby. The locomotion of the mobile robot is supported on the actuation of two DC Maxon motors which are managed by two EPOS boards. A LIDAR sensor (Laser Imaging Detection and Ranging) has been implemented with the aim of measuring the distance to wall. First, all device drivers are configured for this work under Raspbian operational system. Then, a proportional wall-following controller is proposed and later implemented in the actual vehicle using C++ routines. Based on its experimental results, a fuzzy controller was proposed and implemented. Moreover, indoor and outdoor experiments were carried out in order to compare the performance of the controllers with regards to control theory.
Palavras-chave: wall-following control; fuzzy logic controller; differential drive mobile robot