Control System for Agricultural Robot Based on ROS

Abstract

This paper presents a control system for a special purpose mobile platform using ROS capabilities. The structure of hardware and software is given. The main nodes of the control system that have been developed are described: the structure of the motion control node of the mobile platform, the structure of Sensor Node, Navigation Node, Power Node. An example of the control module work of linear and angular velocity by means of sensors is given. The Robot System node graph is constructed and the main stages of processing the information received by means of sensors are described. Data from three sources are used to plot the trajectory: an odometer from the wheels (data from the motor driver), an odometer from the encoders and an IMU sensor. The combination of information from three sources is performed using a Kalman filter. Experimental data of test results of the operating mobile platform in the form of graphs of linear and angular velocity of the platform are also given.