Diseño e Implementación de SLAM y control PID de un robot autónomo Robomaster S1 utilizando Python

Abstract

In every robotics research enhance the autonomy of robots is a common objective. For this purpose each and every component works together, hardware, software, fixed and moving parts, sensors, effectors, programs, tools, libraries, always hand in hand with the programmer who skillfully puts the parts together in order to obtain the expected operation. The objective of the degree project is to deepen and investigate programmable robots applied to the field of mobile robotics, for this an autonomous programmable robot "RoboMaster S1" was implemented, combined with electronic boards like Raspberry Pi, Arduino Nano, Pro Micro (an Arduino based board), and a couple of tools, one physical, YDLiDar X4 sensor for mapping in two dimensions of the robot enviroment, and a virtual one, the framework ROS, for obtaining teleoperation of robot from a computer connected on its network.