Currently, commercially available intelligent transport robots that are capable of carrying up to 90kg of load can cost \$5000 or even more. This makes real-world experimentation prohibitively expensive and limits the applicability of such systems to everyday home or industrial tasks. Aside from their high cost, the majority of commercially available platforms are either closed-source, platform-specific or use difficult-to-customize hardware and firmware. In this work, we present a low-cost, open-source and modular alternative, referred to herein as "open-source open shuttle (O2S)". O2S utilizes off-the-shelf (OTS) components, additive manufacturing technologies, aluminium profiles, and a consumer hoverboard with high-torque brushless direct current (BLDC) motors. O2S is fully compatible with the robot operating system (ROS), has a maximum payload of 90kg, and costs less than $1500. Furthermore, O2S offers a simple yet robust framework for contextualizing simultaneous localization and mapping (SLAM) algorithms, an essential prerequisite for autonomous robot navigation. The robustness and performance of the O2S were validated through real-world and simulation experiments. All the design, construction and software files are freely available online under the GNU GPL v3 license at https://doi.org/10.17605/OSF.IO/K83X7. A descriptive video of O2S can be found at https://osf.io/v8tq2.
翻译:目前,商业上可用的智能运输机器人,能够运载90公斤重载,其成本可高达5 000美元甚至甚至更高。这使得现实世界实验费用高得令人望而却步,限制了这类系统对日常家庭或工业任务的适用性。除了成本高昂外,大多数商业上可用的平台要么是封闭源、平台专用或使用难以定制的硬件和固态软件;在这项工作中,我们提出了一个低成本、开放源码和模块化的替代方案,称为“开放源代码穿梭(O2S)”。O2S利用现成(OTS)部件、添加型制造技术、铝质剖面图,以及一个具有高管刷牙直流(BLDC)发动机的消费者悬浮板。O2S与机器人操作系统完全兼容,最大有效载荷为90公斤,成本低于1 500美元。此外,O2S提供了一个简单而又可靠的框架,将同时本地化和制图(SLAM)算入背景,这是自主机器人导航的基本前提。O2SOSOVDO3的坚固性和性操作性,在现实世界范围内,在O2K-NUS/ODLS/ODLS/DUS/DLA的所有设计下,在可自由测试和可操作中找到。