Control of the Mobile Robots with ROS in Robotics Courses

摘要

The paper describes implementation of mobile robots programming process with Robot Operating System (ROS) in student robotics courses. ROS provides different tools for data analysis, facilities of multiple robots and their sensors, teleoperation devices interaction thereby targeting engineering education. An example with the multiagent interaction between agent-evader and agent-pursuer were taken as the basic navigational task. The computed behavior of the virtual agents were successfully transferred to the quadcopters, Lego Mindstorms NXT based and Robotino robots. Diverse experimental tests were conducted using the algorithms on virtual agents and robotic platforms.