MOBILE ROBOT BASE CONTROLLED WITH ROS AND ANDROID

This is the Mobile robot base developed by the Robotics Interest Group NITC. This robot is controlled by using the data acquired from the accelerometer in the android based tablet. The robot is based on the famous Robot Operating System(ROS).

Abstract :

This beginner level project is aimed at understanding operating level concepts of ROS (Robot Operating System) and mobile robotics. The aim is to control a mobile base using an android device’s tilt motion and teleoperate it using live feed from the camera. The 2 dimensional pose (position and orientation) estimation of the mobile base can be made using 2 optical mice.

Working :

The accelerometer data when the android device is tilted is fed to the PC (kept on the mobile base) over wireless network. The ROS in the PC acquires the data and processes the data. It is then fed to the Arduino, which drives the motors accordingly using H bridge motor drivers.

A phone/web cam attached on the base helps to acquire the live feed, making teleportation possible. The camera feed maybe acquired over a separate wireless network. Work regarding tracking and 2D pose estimation using optical mice is under progress.The accelerometer data when the android device is tilted is fed to the PC (kept on the mobile base) over wireless network.

The ROS in the PC acquires the data and processes the data. It is then fed to the Arduino, which drives the motors accordingly using H bridge motor drivers.