Publication: Interfaz de control iCab, el vehículo autónomo
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2015-06
Defense date
2015-07-07
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Abstract
En la actualidad, se quiere controlar todo lo que nos rodea, a través de una pantalla. En consecuencia, el modelado y la creación de elementos visuales se encuentran en constante evolución, provocando la aparición de nuevas herramientas y versiones más actuales de las interfaces. A todo esto hay que sumar cómo el ser humano interactúa cada vez más con los dispositivos electrónicos —móviles, robots, control de fábricas, video vigilancia, etc.—, necesitando para ello un software que permita de la forma más intuitiva esta interacción humano-máquina.
El software y el hardware van de la mano en la mayoría de los proyectos de sistemas electrónicos, dado que la información proveniente de los sensores puede ser extraída y transformada mediante el software en una interfaz gráfica que sirva para analizar los datos y actuar en consecuencia.
El proyecto llevado a cabo a lo largo de este trabajo ha permitido obtener una interfaz de visualización de datos de la plataforma de investigación iCab —encoders, temperatura, control de errores, estado de los motores, heartbit, posición, ángulo de giro, etc.—, así como la posibilidad de controlarlo a través de una pantalla táctil.
La comunicación llevada a cabo a través de la pantalla y el vehículo se ha realizado mediante ROS —Robot Operating System— y el desarrollo de la interfaz gráfica, con Qt Creator. Mediante estas dos herramientas, se ha podido recibir la información recopilada por el microprocesador —cerebro de la capa a bajo nivel del vehículo—.
Los resultados obtenidos a la hora de realizar pruebas han sido buenos, aunque, debido a que este proyecto todavía se encuentra en desarrollo, no se han podido explotar al 100% las posibilidades que presenta esta interfaz.
Nowadays, everybody wants to control what surrounds us by means of a screen. Consequently, the processes of modelling and creation of visual elements are in constant evolution, which causes the advent of new tools and updated versions of the already existent interfaces. Added to all this, we find more than ever how humans interact with electronic devices —mobiles, robots, factory controls, video surveillance systems, etc.—, which increases the need for new software able to offer an improved intuitive medium in the interaction between machines and humans. In addition, the software and hardware belong together in most of the projects dedicated to electronic systems, given that the information from sensors can be extracted and processed by the software in a graphical interface that serves to analyze the data and act accordingly. The present project demonstrates how to obtain an interface of data visualization for the research platform iCab —encoders, temperature, error handling, engine status, heartbit, position, rotation angle, etc.—, and the possibility to control it by means of a touchscreen. The communication established between the screen and the vehicle has been carried out by the use of ROS —Robot Operating System— and the development of the graphical interface with Qt Creator. Using these two tools, it has been possible to receive the information collected by the microprocessor —brain layer at low level of vehicle. The results obtained on testing have been positive, but due to the fact that this project is still developing, it has not been possible to make use of the full potential that this interface presents.
Nowadays, everybody wants to control what surrounds us by means of a screen. Consequently, the processes of modelling and creation of visual elements are in constant evolution, which causes the advent of new tools and updated versions of the already existent interfaces. Added to all this, we find more than ever how humans interact with electronic devices —mobiles, robots, factory controls, video surveillance systems, etc.—, which increases the need for new software able to offer an improved intuitive medium in the interaction between machines and humans. In addition, the software and hardware belong together in most of the projects dedicated to electronic systems, given that the information from sensors can be extracted and processed by the software in a graphical interface that serves to analyze the data and act accordingly. The present project demonstrates how to obtain an interface of data visualization for the research platform iCab —encoders, temperature, error handling, engine status, heartbit, position, rotation angle, etc.—, and the possibility to control it by means of a touchscreen. The communication established between the screen and the vehicle has been carried out by the use of ROS —Robot Operating System— and the development of the graphical interface with Qt Creator. Using these two tools, it has been possible to receive the information collected by the microprocessor —brain layer at low level of vehicle. The results obtained on testing have been positive, but due to the fact that this project is still developing, it has not been possible to make use of the full potential that this interface presents.
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ROS (Robot Operating System), Tecnología automovilística, Interfaz Gráfica de Usuario, iCab, Sistemas de control, Qt Creator, Software libre