Hermes III: Robot Omnidireccional con capacidad de SLAM
Keywords:
robot; omnidireccional; Robot Operating System ROS; Kinect; SLAM.Abstract
This paper details the redesign process of the Hermes II omnidirectional mobile robot, which was developed at the Computer Architecture Laboratory of the FCEFyN-UNC. This new version, called Hermes III, has the same omnidirectional locomotion system as its predecessor and incorporates substantial improvements in terms of control and sensing systems that command the mobile robot. Furthermore, the new robot incorporates the capability of Simultaneous Mapping and Localization; in order to provide the robotic system with this capability, a Kinect V1 device was incorporated. In the new robotic system scalability is increased through the Robotic Operating System, known by its acronym ROS, which is a framework that enhances the development of software for robots. The project is implemented on an NVIDIA Jetson TK1 development board, which, given its computational capabilities, supports the requirements of the system. The result of this project is a robust and flexible omnidirectional mobile robotic system with autonomous exploration, localization and mapping capabilities.
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