Omni-Directional Mobile Robot Control using Raspberry Pi and Jetson Nano

Evert Oneil, Indar Sugiarto
2020 JIRAE (International Journal of Industrial Research and Applied Engineering)  
This paper describes a process of designing a low-cost robot that moves omni-directionally that capable of detecting simple objects around it while moving. The robot uses three DC motors with encoder as feedback. The overall movement control is done by a Raspberry Pi that is embedded into the robot. It also uses ROS (Robotic Operating System) as the framework. To detect certain objects, the robot is equipped with an infrared sensor for measuring the object distance, and a camera for capturing
more » ... era for capturing the image of the object that will be processed by a Nvidia Jetson Nano. By using inverse kinematics and odometry calculations, the robot can move smoothly with error at about 9.5% on the x-axis and 8.1% on the y-axis, measured at the robot's final position. The robot can detect objects using infrared sensors reliably with error at about 0.87%, however, it cannot measure the object size precisely due to various factors.
doi:10.9744/jirae.4.2.57-62 fatcat:ult5jbxuffhs5nsgmuzeo3rfjq