CLEARUn Módulo para la Robotización de Máquinas Ackermann

  1. Saúl Cova-Rocamora 1
  2. Iván del Pino 1
  3. Miguel Á. Muñoz-Bañon 1
  4. Miguel Á. Contreras 1
  5. Francisco A. Candelas 1
  6. Fernando Torres 1
  1. 1 Universitat d'Alacant
    info

    Universitat d'Alacant

    Alicante, España

    ROR https://ror.org/05t8bcz72

Book:
XXXIX Jornadas de Automática: actas. Badajoz, 5-7 de septiembre de 2018
  1. Inés Tejado Balsera (coord.)
  2. Emiliano Pérez Hernández (coord.)
  3. Antonio José Calderón Godoy (coord.)
  4. Isaías González Pérez (coord.)
  5. Pilar Merchán García (coord.)
  6. Jesús Lozano Rogado (coord.)
  7. Santiago Salamanca Miño (coord.)
  8. Blas M. Vinagre Jara (coord.)

Publisher: Universidad de Extremadura

ISBN: 978-84-9749-756-5,  978-84-09-04460-3

Year of publication: 2018

Pages: 372-378

Congress: Jornadas de Automática (39. 2018. Badajoz)

Type: Conference paper

DOI: 10.17979/SPUDC.9788497497565.0372 DIALNET GOOGLE SCHOLAR lock_openRUC editor

Abstract

This article describes the work done to create a module that facilitates the generic Ackermann machines robotization. This allows control and monitoring of the robot thanks to a low-level hardware interface with the platform's actuators and sensors, and a high-level software interface fully integrated in ROS. Finally, the module has been tested by integrating it into a real machine and obtaining the expected results. This module called CLEAR (Control Logic for Easy Ackermann Robotization) has been developed to be generic and open source and open hardware. It is therefore expect to help research in ground mobile robotics for anyone who wants to transform an Ackermann mobile platform into a robot.

Data source: Dialnet