Control system design of a teleoperated omnidirectional mobile robot using ROS

Abstract

Mobile robots are capable of performing spatial displacement motions in different environments. These motions can be computed based on the sensorial data (autonomous robot) or given by an operator (tele operated robot). This paper is focused on the latter providing the control and software architecture that bridges the tele operator, the sensorial data from the task circumstance and the robot's locomotion system as well as the end-effectors. Such a task might prove overwhelming in cases where the robot comprises a wide variety of sensors and actuators, hence a relatively new option was selected in the paper: Robot Operating System (ROS). Specifically, the control system of a omni-directional mobile robot is developed and tested using ROS together with Gazebo in order to determine the viability of such a system. A stability analysis is also performed. This work concluded that both the physical properties and the control architecture are feasible and stable.