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

Pipit Anggraeni (1) , Mariem Mrabet (2) , Michael Defoort (1, 3) , Mohamed Djemai (1, 3)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
2 ENICARTHAGE - Ecole Nationale d’Ingénieurs de Carthage
3 INSA Hauts-De-France - INSA Institut National des Sciences Appliquées Hauts-de-France

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.

Mots clés: "Wireless communication"; "Mobile robots"; "Robot sensing systems"; "Robot kinematics"; "Operating systems"; "Computer architecture"

Domaines: Automatique / Robotique

Pipit Anggraeni, Mariem 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⟩