Plataforma para robótica cooperativa soportada por teléfonos inteligentes android

Abstract

A smart phone offers many useful features in a robotics project, especially mobile robotics. In this context, this paper shows the design and development of a toolkit to develop robotics projects, specifically cooperative robotics, using the Android operating system devices. The first tool is a library developed for Android that encapsulates common tasks in cooperative robotics like communication requirements, variable control and cooperation between agents. The second is a library for the Arduino ADK card that makes compatible the communication and the management of variables with the Android library. Finally, the third tool is an application that validates the library for Android implementing a common application in cooperative robotics, the formation control. The formation control application begins with the design and construction of three differential locomotion robots, and ends with the design and implementation of an application that controls the formation from images captured by an external camera.