论文标题
英雄2.0：用于群体机器人研究的低成本机器人
HeRo 2.0: A Low-Cost Robot for Swarm Robotics Research
论文作者
论文摘要
电子组件小型化的当前状态加上硬件和软件的效率提高，可以开发较小，紧凑的机器人系统。使用这些小型，简单但有能力的机器人的便利性使研究界的注意力集中在群体机器人技术的实际应用上。本文介绍了一个新颖的平台，用于群体机器人应用程序，该平台是低成本，使用现成的组件易于组装的，并与当今可用的最常用的机器人框架深入集成：ROS（ROSOT操作系统）。机器人平台完全开放，由3D打印的主体和开源软件组成。我们描述其架构，介绍其主要特征，并使用几个机器人评估其功能执行实验。结果表明，拟议的移动机器人的尺寸较小，成本降低，适合群体机器人研究和教育，因此提出的移动机器人非常有效。
The current state of electronic component miniaturization coupled with the increasing efficiency in hardware and software allow the development of smaller and compact robotic systems. The convenience of using these small, simple, yet capable robots has gathered the research community's attention towards practical applications of swarm robotics. This paper presents the design of a novel platform for swarm robotics applications that is low cost, easy to assemble using off-the-shelf components, and deeply integrated with the most used robotic framework available today: ROS (Robot Operating System). The robotic platform is entirely open, composed of a 3D printed body and open-source software. We describe its architecture, present its main features, and evaluate its functionalities executing experiments using a couple of robots. Results demonstrate that the proposed mobile robot is very effective given its small size and reduced cost, being suitable for swarm robotics research and education.
