NDLI: TL-OSR, a low cost mobile robot with open-source technology based on sensor fusion

Content Provider	IEEE Xplore Digital Library
Author	Saboury, A. Masouleh, M.T.
Copyright Year	2014
Description	Author affiliation: Human & Robot Interaction Lab., Univ. of Tehran, Tehran, Iran (Masouleh, M.T.) \|\| Dept. of Mechatron., Islamic Azad Univ., Qazvin, Iran (Saboury, A.)
Abstract	This paper presents the state-of-the-art for building a low cost mobile robot with open-source technology based on sensor fusion. Designing open-source educational robots has a great impact on empowering engineers and those interested in mobile robots. In the last decade, different robots have been designed and built for this purpose. In this project, with the help of sensors available on a 9-axis open-source IMU and a robot based on open-source hardware and control software, a graphical user interface has been implemented to view the condition of motion variables in a real-time manner and combine sensor data. Moreover, by implementing different filter programs, such as low-pass filter, complementary filter and by using KF implementation and deliberation this mobile robot becomes suitable for improving the accuracy of the robot in extracting parameters required for localization, mapping and robot navigation. Features of the developed robot, the so-called TL-OSR, can be regarded as: using open-source hardware and software with real-time performance, low price equipment, presenting a solution based on sensor fusion for better accuracy in robot navigation and using different types of sensors. This robot can be used as an suitable open-source platform as a new class of mobile robots for educational and research purposes in mechatronics and robotics.
Starting Page	262
Ending Page	267
File Size	1896372
Page Count	6
File Format	PDF
e-ISBN	9781479967438
DOI	10.1109/ICRoM.2014.6990911
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-15
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Open-source IMU Complementary filter Kalman filter Sensor fusion Robot sensing systems DC motors Hardware Mobile robots Open source software
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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