论文标题
ROMR：基于ROS的开源移动机器人
ROMR: A ROS-based Open-source Mobile Robot
论文作者
论文摘要
当前，能够承载高达90公斤重量的市售智能运输机器人的费用可能为5,000美元甚至更高。这使现实世界实验过于昂贵，并限制了此类系统对日常家庭或工业任务的适用性。除了高昂的成本外，大多数市售平台都是封闭式，特定于平台的封闭式，要么使用难以燃烧的硬件和固件。在这项工作中，我们提出了一种低成本，开源和模块化的替代方案，称此处称为“基于ROS的开源移动机器人（$ ROMR $）”。 $ ROMR $使用现成的（OT）组件，添加剂制造技术，铝制配置文件和具有高扭矩无刷直流电流（BLDC）电动机的消费者气垫板。 $ ROMR $与机器人操作系统（ROS）完全兼容，最大有效载荷为90公斤，成本低于\ $ 1500。此外，ROMR提供了一个简单而强大的框架，用于将同时本地化和映射（SLAM）算法上下文化，这是自动机器人导航的必要前提。 $ ROMR $的稳健性和性能通过现实世界和仿真实验验证。所有的设计，构造和软件文件均可在https://doi.org/10.17605/osf.io/k83x7上免费在线获得GNU GPL V3许可证。可以在https://osf.io/ku8ag上找到$ romr $的描述性视频。
Currently, commercially available intelligent transport robots that are capable of carrying up to 90kg of load can cost \$5,000 or even more. This makes real-world experimentation prohibitively expensive and limits the applicability of such systems to everyday home or industrial tasks. Aside from their high cost, the majority of commercially available platforms are either closed-source, platform-specific or use difficult-to-customize hardware and firmware. In this work, we present a low-cost, open-source and modular alternative, referred to herein as "ROS-based Open-source Mobile Robot ($ROMR$)". $ROMR$ utilizes off-the-shelf (OTS) components, additive manufacturing technologies, aluminium profiles, and a consumer hoverboard with high-torque brushless direct current (BLDC) motors. $ROMR$ is fully compatible with the robot operating system (ROS), has a maximum payload of 90kg, and costs less than \$1500. Furthermore, ROMR offers a simple yet robust framework for contextualizing simultaneous localization and mapping (SLAM) algorithms, an essential prerequisite for autonomous robot navigation. The robustness and performance of the $ROMR$ were validated through real-world and simulation experiments. All the design, construction and software files are freely available online under the GNU GPL v3 licence at https://doi.org/10.17605/OSF.IO/K83X7. A descriptive video of $ROMR$ can be found at https://osf.io/ku8ag.
