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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of International Conference on Image Processing and Robotics, ICIPRoB 2020
編集者B. H. Sudantha
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781728165417
DOI
出版ステータスPublished - 2020 3 6
イベント1st International Conference on Image Processing and Robotics, ICIPRoB 2020 - Negombo, Sri Lanka
継続期間: 2020 3 62020 3 8

出版物シリーズ

名前Proceedings of International Conference on Image Processing and Robotics, ICIPRoB 2020

Conference

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 信号処理
  • 決定科学(その他)
  • 制御と最適化

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