The design and implementation of a high modularity open source low-cost three-wheeled robotic platform is described in this paper. The robotic platform includes low level motor control, obstacle sensor devices, a distributed microcontroller architecture using a CAN bus, and behaviour based high level robot control implemented in C++ with a graphical user interface to interact with the mobile robot. The designed mobile robot serves as a base robotic platform for applications in industrial environments as well as in educational and research programs. A mobile target tracking application has been implemented to test the platform.
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