Design of a Prototype for a Modular Mobile Robotic Platform

Abstract

This paper deals with the design and implementation of a prototype for a modular mobile robotic platform for the universal use in both research and teaching activities. It describes the development of a mobile robot skeleton which is low-cost and easy to produce by means of 3D printing. It next deals with prototyping the robot’s hardware components, focusing on the development of the robot’s main control unit and implementation of communication interfaces. The concept of multiple sensor modules connectable to the robot’s top side is also described. The paper next concentrates on the implementation of program modules at the level of MicroController Unit (MCU) on the control board, including the management of peripheral components as well as the implementation of control algorithms and communication protocols. Last but not least, it deals with the development of software modules for the MCUs on individual sensor modules and with the implementation of services for robot control at the level of the supervisor computer using the Robotic Operation System (ROS) communication system.