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Deeper in BLUE

Development of a roBot for Localization in Unstructured Environments

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Abstract

Despite the progress that has been made with simulators and the existence of datasets, real experimental platforms are, and will continue to be necessary. Well-designed research platforms that produce reliable results and are easy to operate and debug make all the difference in research productivity. In this paper, we show the works that turned a stock electric cart into a research robot called BLUE. It provides a ROS interface that allows real-time control, monitoring, and adjustment of the system. We provide a quantitative performance evaluation, and a GitHub repository that contains all the information required to replicate the process.

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Acknowledgements

We would like to thank Juan Andrade-Cetto and Joan Solà from the Institut de Robòtica i Informàtica Industrial (IRI) for their advice and valuable discussion. We also would like to thank Mr. Antonio López Moraga, part time instructor in the Department of Civil Engineering at the University of Alicante, for his help in the calibration of the GNSS receivers, and María Cutillas Muñoz for the excellent concept illustration in Fig. ??.

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Authors and Affiliations

  1. AUROVA: Group of Automation, Robotics and Computer Vision, University of Alicante, San Vicente del Raspeig S/N, Alicante, Spain

    Iván del Pino, Miguel Á. Muñoz-Bañon, Saúl Cova-Rocamora, Miguel Á. Contreras, Francisco A. Candelas & Fernando Torres

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  1. Iván del Pino
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  2. Miguel Á. Muñoz-Bañon
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Correspondence to Iván del Pino.

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This work has been supported by the Spanish Goverment through the FPU grant FPU15/04446 and the research project DPI2015-68087-R.

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del Pino, I., Muñoz-Bañon, M.Á., Cova-Rocamora, S. et al. Deeper in BLUE. J Intell Robot Syst 98, 207–225 (2020). https://doi.org/10.1007/s10846-019-00983-6

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