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Development of a wireless communication platform for multiple-mobile robots using ROS

Abstract : The MiniLab Enova mobile robot is presented in this paper. The main aim is to implement multi-master systems for managing a wireless communication network of multiple robots. A communication control scheme for multiple MiniLab Enova mobile robots was developed using ROS (Robot Operating System). ROS multi-master system is build from two or more ROS networks, each one with its own roscore node. For multiple robots, there are namespace conflict with ROS topics in a single master system. This limitation can be overcome using multiple masters. With this framework, it is possible to control the movement of multiple robots via a wireless communication network using only one monitoring computer.
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https://hal-uphf.archives-ouvertes.fr/hal-03408714
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Submitted on : Friday, October 29, 2021 - 12:10:05 PM
Last modification on : Wednesday, November 3, 2021 - 4:00:51 AM

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Pipit Anggraeni, M Mrabet, Michael Defoort, Mohamed Djemai. Development of a wireless communication platform for multiple-mobile robots using ROS. 6th International Conference on Control Engineering & Information Technology (CEIT), Oct 2018, Istanbul, Turkey. pp.1-6, ⟨10.1109/CEIT.2018.8751845⟩. ⟨hal-03408714⟩

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