Robot Operating System based Mobile Robot
, ROS which means Robot Operating System, is a set of software libraries and tools to help us build robot applications. Its simplify integration by standardized methods for data sharing. The point of ROS is to create a roboti
2025-06-28 16:34:50 - Adil Khan
Robot Operating System based Mobile Robot
Project Area of Specialization RoboticsProject Summary,
ROS which means Robot Operating System, is a set of software libraries and tools to help us build robot applications. Its simplify integration by standardized methods for data sharing. The point of ROS is to create a robotics standard, so we don't need to reinvent the wheel anymore during developing a new robot. ROS can work with multiple ROS masters. It means that we can have many independent robots, each with its own ROS system, and all robots can communicate between each other. ROS is language-agnostic we can program our robot on any language doesn’t matter. ROS has great simulation tools where we can simulate our bot in 3-D environment. ROS is mainly used in North American and European Countries.
Here, we are going to develop a four wheeled Multifunctional Mobile Robot with the help of ROS means we can put extensions on it for some specific task. This mobile robot will be near to real size and robust metal designed. Bot should capable to carry 200 kilo gram load with 10km/h speed. We wants to develop a robot having various features that’s why we can call it multirole. Basically we are going to target following fields
- Industrial
- Space Exploration
- Military
We will control our Robot wirelessly and integrate some autonomous behavior. Such as we can perform localization through Augmented Reality Tag, IOT and Google assistance in industrial domain. Lock and Follow the target with 2D Machine Gun (soft) mounted on military robot, area patrolling through GPS coordinates, explore the climate of unknown planet, video transmission, obstacle avoidance etc. These all control generate from Linux computer usually called Master.
The main inspiration and motivation for this project is to promote high tech robotics in our country. As we know that Pakistan is developing country and suffers the economy crisis, robotics and automation play an important role to boost country's economy. We can use robots in our Medical, Industrial, space, domestic and in military just to enhance the working efficiency.
Project ObjectivesThe Developers and researchers are being working to improve the efficiency and performance of Mobile robot. Moreover our innovation and objectives is to implement ROS technology on UGV that will be very helpful for in various fields to perform different task but we are mainly targeting three following field.
1. Industrial
2. Space Exploration
3. Military
Initially, we have analyzed problems in regarding fields to come up with new solution. Then we have listed our objectives which are completely defined and lots of them have been tested on our prototype model. Results are satisfied.
Industrial:
In industrial environment we have been facing a problem in which we have to carry heavy load and deliver it to concern location inside the industry for further processing. We wants to perform localization of robot so it can be performed autonomous mobility. We have AR-tag on our robot and on different workbenches of industry so we can localize our object in 3D space by using camera. Let’s take an scenario based example in which supervisor of Workbench-A will generate a call to place some load on robot to deliver it to workbench-B, ROS will forward that call to robot which can be anywhere in industry. Then with the help of AR-tag ROS will guide the robot to come closer the Workbench-A. On reaching, supervisor will put load on it and generate forward command towards Workbench-B then again ROS will guide robot to come closer the workbench-B. These all process will be in continuous manner. Robot will do obstacle avoidance, safety inspection and IOT based working-status plus battery indication. For modification we wants to implement some kind of artificial intelligence, so when charging is low robot will proceed towards charging station and charge itself autonomously.
Space Exploration:
In space exploration we will gather data from our sensors and apply further data processing to predict the following climate and weather information. These all will be predict by using only two sensor DHT-22 and LDR.
- EXISTANCE OF LIFE
- DURATION OF SEASONS
- LENGTH OF DAY & NIGHT
- TEMPERATURE
- HUMIDITY
- LIGHT INTENSITY
Military:
Regarding military point of view we wants to used it for multipurpose. In military services, there are some areas in which some of the tasks involve greater risk and danger, and therefore, those tasks must be performed without military personnel, solely by the robots. By using this technology we could save many lives, but now for future we wants to deliver this technology to armed forces that can help to save lives and gives more strength to our defense. In this we will mount 2D pneumatic machine gun (soft) which will be capable for lock and follow the target and wait for the operator command to be fire. Further we wants to design a briefcase having complete control of robot, it will be more continent in war field. For modification we are considering GPS to do mission planning and patrolling.
Project Implementation MethodLiterature Review: To study the ROS interfacing, its working, capability, integration method and localization algorithms.
Sensor and Module Integration: Initially import required sensors and modules and then integrate with ROS.
Programming: To write pseudo code then convert it into real programming language, remove all bugs.
Prototype Model: Before go for real robots designing, apply all possible features and algorithm on prototype model.
Simulation: We will have the proper simulation and calculated result earlier, but implementing it on real system will be our main task.
PCB Designing: To design electronic circuit and implement it on PCB.
Solid Works Design: To make robot's design on software to overcome the physical flows before go for hardware.
Implementation of Hardware Design: To apply solid work design on hardware, robot frame will be robust and made up of metal.
Assembly: Fix all components, sensors, PCB and miscellaneous equipment on robot and then cover robot's frame with metal sheets.
Field Testing: After testing we will be finalizing the hardware with proper presentations and with best accurate working.
Report Writing: After performing all above task in given time we will be writing report in which we will describe each and every working component in best understanding formats.
Benefits of the ProjectRobotics and Automation for economic development of any country is an important factor. Now a days, only North American and European countries have obtain this technology and gets more and more profit. .Our innovation is to implement this ROS technology on UGV that will be very helpful for the purpose of Military, Industrial and Space Exploration. We will come up with new solutions which will make our regarding field’s modified. Such as by using military robot we can reduce military personal causalities and increase the defensive probability. Our main focus is industrial robot where we will do localization in 3D plane to come up with autonomous mobility to reduce the time and cost. On last space exploration robot is to explore the climate changing in unknown planet. We can predict the weather climate.
Technical Details of Final DeliverableThe Final Deliverable will consist of a 4-wheeled metal body structure, having hub wheels (BLDC) and Motherboard (sensors and modules). Three extensions for industrial, military and space exploration robot will also deliver. Battery and pneumatic gun with cylinder and servo motors. Complete Robot will be submit in working condition.
Final Deliverable of the Project HW/SW integrated systemType of Industry Others , Security Technologies Internet of Things (IoT), RoboticsSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 79200 | |||
| Raspberry pi 3 | Equipment | 2 | 5500 | 11000 |
| Arduino Mega 2560 | Equipment | 1 | 1250 | 1250 |
| Pixy 2 CMUcam5 | Equipment | 1 | 11000 | 11000 |
| USB CAM | Equipment | 2 | 1000 | 2000 |
| Hub wheels | Equipment | 4 | 2000 | 8000 |
| Motor Driver 350 watts | Equipment | 2 | 4200 | 8400 |
| Metal Pipes and Sheet | Equipment | 1 | 7000 | 7000 |
| Gas Cylinder | Equipment | 1 | 2000 | 2000 |
| Servo Motors | Equipment | 4 | 350 | 1400 |
| Lipo battery 1500 mah | Equipment | 1 | 1500 | 1500 |
| Battery 24 volt | Equipment | 2 | 2000 | 4000 |
| Acrylic sheet | Miscellaneous | 1 | 3000 | 3000 |
| PCB Fabrication | Equipment | 1 | 4000 | 4000 |
| RC 2.4 GHz | Equipment | 1 | 5000 | 5000 |
| Metal Working | Miscellaneous | 1 | 4000 | 4000 |
| Paint and Finishing | Miscellaneous | 1 | 1000 | 1000 |
| Gyro | Equipment | 1 | 300 | 300 |
| Dht-22 | Equipment | 1 | 350 | 350 |
| Nut-Bolt | Miscellaneous | 1 | 1000 | 1000 |
| Air Compressor | Equipment | 1 | 2000 | 2000 |
| Electronic Items | Miscellaneous | 1 | 1000 | 1000 |