Reconfigurable mobile robotic platform for research and teaching
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12235Keywords:
Autonomous mobile robots, Information and sensor fusion, Cooperative navigation, Localization, Map building, Motion control, Robot Navigation, Multi-vehicle systemsAbstract
This work presents the design and development of a modular ground mobile robotic platform aimed at research and educational purposes. The platform supports three interchangeable kinematic configurations (differential, skid-steering, and omnidirectional) by swapping its wheels. It is structured into three layers that integrate sensors, actuators, and processors. Low-level control is handled by an ESP32 microcontroller running FreeRTOS, while high-level tasks such as planning and navigation are performed on a Raspberry Pi 5 using ROS2 Jazzy. The microcontroller implements forward and inverse kinematics computations, PID control for wheel speed regulation, and an Extended Kalman Filter for robot’s state estimation (odometry). Additionally, a digital twin has been developed in ROS2 to simulate the behavior of each configuration. Finally, a visual Leader-Follower control strategy has been validated between robots using ArUco marker detection and position-based visual servoing, enabling collaboration within multi-robot systems.
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Copyright (c) 2025 Laura Garrido-Rey, J. Daniel Navarro-González, Silvia Casans, Enrique Sanchis, Vicent Girbés-Juan
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