Piline ROS: plataforma robótica seguidora de linha com ROS2

Abstract

The development of mobile robotic platforms in educational and research environments de-mands flexible and accessible architectures. This work proposes the adaptation of a commercialvacuum robot (Roomba® 614 iRobot) into an autonomous line-follower robotic platform. Thesystem employs a Raspberry Pi 4 Model B, running Ubuntu 22.04, as the central processingunit. This choice eliminates the need for intermediary microcontrollers, allowing direct readingof a 5-channel line-follower module (BFD-1000) and the execution of the Proportional-Integral-Derivative (PID) control algorithm via Edge Computing. The entire control and communicationsoftware was developed modularly on the Robot Operating System 2 (ROS 2 Humble) ecosys-tem using C++ and Python. The integration of these technologies resulted in a simplified androbust hardware architecture, utilizing a USB-Serial TTL converter cable to mitigate communi-cation noise. The results demonstrate the physical validation of the kinematic model and theplatform’s potential as an advanced educational resource for teaching kinematics, automation,and embedded systems.