ROS Tabanlı Mobil Robotlar İçin Yeni Bir Kontrol ve Görüntüleme Arayüz Tasarımı

Abstract

Bu çalışmada, Robot İşletim Sistemi (ROS) tabanlı otonom mobil robotun (AMR) kontrolünde ve izlenmesinde kullanıcıya kolaylık sağlamak amacıyla bir arayüz tasarımı gerçekleştirilmiştir. Arayüz tasarımında Qt Designer ve Python kullanılmıştır. Tasarlanan arayüz sayesinde AMR'nin otonom ve manuel kontrolü sağlanmıştır. Gmapping algoritması kullanılarak sanal dünyadaki ortam haritalanarak .png formatında resme dönüştürülerek arayüzde görselleştirilmiştir. ROS'tan gelen konum bilgisi söz konusu resme aktarılmış ve arayüz üzerinden AMR'nin anlık takibi yapılmıştır. Lokal ve global olarak o an hangi algoritmanın kullanıldığı gösterilmiştir. Otonom modda iken aracın önceden kaydedilen noktaya hareket etmesi sağlanmıştır. AMR'nin iki nokta arasında hareket ederken aldığı toplam mesafe ve süre de arayüz tarafından hesaplanmıştır. Durak listesinden daha önce kaydedilen istasyonun konumu (x, y, z) ve yönleri (x, y, z, w) takip edilebilmiştir. Öte yandan AMR'nin konum (x, y, z) ve yön (x, y, z, w) bilgileri arayüz üzerinden gerçek zamanlı olarak takip edilebilmiştir. Bu sayede AMR hedef istasyona ulaştığında, iki nokta arasında geçen süre, ulaşım mesafesi, aracın konumu, yönü gibi yerleşim bilgileri arayüz üzerinden takip edilip karşılaştırılabilmiştir.

Keywords

• ROS
• Yol Planlama
• Arayüz Tasarımı
• PyQt

A Novel Control and Monitoring Interface Design for ROS Based Mobile Robots

Abstract

In this study, an interface design was carried out in order to provide convenience to the user in the control and monitoring of the Robot Operating System (ROS) based autonomous mobile robot (AMR). Qt Designer and Python were used in the interface design. Thanks to the designed interface, autonomous and manual control of AMR was provided. Using the gmapping algorithm, the environment in the virtual world was mapped and transformed into a picture in .png format and visualized in the interface. The location information from the ROS was transferred to the said picture and the instant tracking of the AMR was done via the interface. It was shown which algorithm is used locally and globally at that moment. While in autonomous mode, the vehicle was provided to move to the previously recorded point. The total distance and time spent by the AMR while moving between two points were also calculated by the interface. The location (x, y, z) and orientations (x, y, z, w) of the previously recorded station were monitored from the stop list. On the other hand, the position (x, y, z) and orientation (x, y, z, w) information of the AMR could be followed as real time via the interface. In this way, when the AMR reaches the goal station, the time elapsed between two points, the transportation distance, settlement information such as the location and orientation of the vehicle can be tracked and be compared via the interface.

Keywords

• AMR
• GUI
• Path Planning
• PyQt

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