An Autonomously Guided Differential Drive Robot Base Using Asus® Xtion Pro Live

S. I.A.P. Diddeniya, J. Liyanage, W. K.I.L. Wanniarachchi, C. Premachandra, H. N. Gunasinghe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Robots have been popularized in the world during the past two decades and its development has overtaken many tasks performed by people, from households to the largest companies. Further, robotics has its applications in almost all industries and sectors. Robots are available in many sizes, weights, and appearances based on their usage and applicability. In our study, we are going to introduce a novel robot base. We have developed the basic structure of the base using low-cost materials and open-source software packages. We used a 3D vision sensor for capturing the environment. Xtion Pro Live sensor by Asus was chosen for the purpose as it is lightweight, small and can be powered through a USB cable. We selected a Raspberry Pi computer as the processing unit of the base because of its lightweight and low cost. Further, it functions efficiently in an indoor environment using wheels. It is Pentagon shaped, 35 cm long and 30 cm wide. It can carry up to 5 kg in weight. We have tested the robot base in an unstructured indoor environment for goal completion using five locations. The robot's accuracy in achieving its targets is 92%. We have made a prototype of a novel robot base with the intention of developing it to append a robotic arm. The system will be able to mimic the tasks in a storage area, having the ability to add, remove and reposition the items in racks.

Original languageEnglish
Title of host publicationProceedings of International Conference on Image Processing and Robotics, ICIPRoB 2020
EditorsB. H. Sudantha
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728165417
DOIs
Publication statusPublished - 2020 Mar 6
Event1st International Conference on Image Processing and Robotics, ICIPRoB 2020 - Negombo, Sri Lanka
Duration: 2020 Mar 62020 Mar 8

Publication series

NameProceedings of International Conference on Image Processing and Robotics, ICIPRoB 2020

Conference

Conference1st International Conference on Image Processing and Robotics, ICIPRoB 2020
CountrySri Lanka
CityNegombo
Period20/3/620/3/8

Keywords

  • Asus Xtion Pro Live
  • Autonomous Navigation
  • Raspberry Pi
  • RGB-D Sensor
  • Robot base
  • ROS
  • SLAM

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Decision Sciences (miscellaneous)
  • Control and Optimization

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