Multimodal Portable Embedded System for Navigation and Mapping
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12213Keywords:
Mobile robots, Mechatronic systems, Map building, Design methodologies, Embedded roboticsAbstract
In this work, we present the design and implementation of a modular hardware/software system intended to enhance task adaptability in robotic platforms for navigation and mapping. We aim to provide a plug-and-play solution that can be easily adapted and deployed across different robots, regardless of their morphology or existing control systems. The proposed module integrates multiple sensors, onboard computing, and a flexible software architecture compatible with modern robotic frameworks (e.g., ROS). We describe the motivation behind the development of the module, its internal architecture, and the design choices that enable hardware and software modularity. The module has been evaluated in real-world scenarios using different robotic platforms, demonstrating its ability to system interoperability.
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Copyright (c) 2025 Juan Camilo Angarita Noriega, Josep Marqués Verdegal, Andrea Pino Jarque, Enric Cervera Mateu, Raúl Marín Prades
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