Motion Planning and Control of Social Mobile Robot – Part 1. Robot Hardware Architecture and Description of Navigation System

Abstract

This two-part paper is concerned with the problem of motion planning and control of PIAP IRYS social robot mobile platform, which is the adapted NOMAD 200 robot. In the first part of the work the developed hardware and software architectures of the research object, as well as its kinematic structure are described. The robot consists of two independent components: (1) a head with a trunk and (2) a mobile platform. As the mobile platform the modernized version of NOMAD 200 robot with synchronously driven and steered wheels was used. The mobile platform was equipped among others with modern low-level miControl motor controllers and a high-level controller working under GNU/Linux operating system with Robot Operating System framework. Kinematics of the three-wheeled robot is discussed and software architecture including ROS-based navigation system is described.