Diseño, control y simulación, mediante el uso del entorno ROS/GAZEBO, de un sistema multi-agente conformado por plataformas turtlebot3 enfocado a mantener una formación líder seguidor : tomo 1.

Abstract

Technological innovations have led to the growth and development of robotics. One field that stands out the most is mobile robotics. It is characterized by the autonomous movement of platforms that have enough intelligence to react and take actions based on the information they perceive from their surrounding environment. In particular, one of the most popular platforms is the differential drive mobile robot principally because of its controllability. For this reason, this work uses the virtual version of the commercial platform TurtleBot3 since its behavior can be simulated in the open source software ROS and Gazebo. Thus, this application focuses on simulating an obstacle-free environment for the command by a user of a virtual TutleBot3. The user can choose between the two available versions of the robot, as well as its operation mode either by computer keyboard or through the application ROS Mobile. The turtlebot3_autorace_2020 package is also used to take advantage of its autonomous driving mode and the developed track to perform different tests with the virtual robot and the implemented operation options. Therefore, the designed environment and the movement options of a both versions of the TurtleBot3 are a fundamental contribution to proceed with the second volume of the total project developed together