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ROMR: A ROS-based open-source mobile robot.

Linus Nwankwo1, Clemens Fritze1, Konrad Bartsch1

  • 1Chair of Cyber-Physical Systems, Montanuniversität, 8700 Leoben, Austria.

Hardwarex
|May 22, 2023
PubMed
Summary
This summary is machine-generated.

We developed a low-cost, open-source mobile robot (ROMR) using off-the-shelf parts, costing under $1500. This affordable platform supports a 90kg payload and is ideal for robotics research and applications.

Keywords:
Mobile robotROSautonomous robotdifferential-drive robotopen-source robot

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Mechanical Engineering

Background:

  • Commercially available intelligent transport robots are expensive (>$5,000), limiting research and practical use.
  • Existing platforms often feature closed-source designs, proprietary hardware, and difficult customization.
  • High costs and limited accessibility hinder the widespread adoption of mobile robot technologies.

Purpose of the Study:

  • To present a low-cost, open-source, and modular mobile robot platform named ROMR (ROS-based Open-source Mobile Robot).
  • To provide an accessible alternative for researchers and developers in mobile robotics.
  • To facilitate experimentation and application of autonomous navigation.

Main Methods:

  • Utilized off-the-shelf components, additive manufacturing, aluminum profiles, and a consumer hoverboard with high-torque BLDC motors.
  • Integrated the robot with the Robot Operating System (ROS) for full compatibility.
  • Developed a framework for Simultaneous Localization and Mapping (SLAM) algorithms.

Main Results:

  • The ROMR platform achieves a 90kg payload capacity at a cost under $1500.
  • Demonstrated full compatibility with ROS and a robust framework for SLAM.
  • Validated performance and robustness through real-world and simulation experiments.

Conclusions:

  • ROMR offers a cost-effective, open-source solution for intelligent transport robots.
  • The modular design and ROS compatibility enhance its adaptability for various tasks.
  • Freely available design files and software encourage broader research and development in mobile robotics.