The Performance Evaluation of ROS2 and Micro-ROS for Real-Time Distributed Control of Omnidirectional Mobile Robots
DOI:
https://doi.org/10.61961/injei.v3i1.87Keywords:
ROS, micro-ROS, robotic control, Intelligent actuators, ESP32, distributed systemsAbstract
Los robots móviles omnidireccionales requieren arquitecturas de control distribuidas eficientes para garantizar una ejecución de movimiento confiable y una comunicación en tiempo real entre el software de navegación de alto nivel y los controladores de motores integrados. Este artículo presenta el diseño e implementación de un sistema de control distribuido basado en ROS2 para un robot móvil omnidireccional que utiliza plataformas de comunicación integradas y actuadores inteligentes. La propuesta de arquitectura integra ROS2, Micro-ROS y comunicación basada en ESP32 para permitir la interacción en tiempo real entre las capas de software y hardware dentro de un marco robótico distribuido modular. Se empleó una metodología de desarrollo estructurada basada en fases iterativas de SCRUM para el diseño, la implementación, las pruebas y la validación del sistema. Los resultados experimentales demuestran una alta confiabilidad funcional, una ejecución de movimiento robusta en bucle cerrado y una gran aceptación por parte del usuario, alcanzando un índice de satisfacción del 98 % en usabilidad y funcionalidad percibidas. La arquitectura propuesta proporciona una solución escalable y rentable para plataformas robóticas omnidireccionales en aplicaciones industriales y académicas, contribuyendo al avance de los sistemas robóticos móviles distribuidos basados en ROS2.Downloads
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