Implementation of Kobuki Robot in the Real Time System using Raspberry

Abstract

This paper describes about implementation of Kobuki robot using embedded system in the real time system. Originally, there are two methods to operate the robot. Firstly, Kobuki already developed with SDK (System Development Kit) and directly can be used to operate the robot. The other way is using ROS (Robot Operating System) which has library to operate the robot. Unfortunately, both of the methods need high specification of resources. Thus, this research developed a system using low cost embedded system such as Raspberry to run the robot using basic library from the original Raspberry Operating System. Sending the bytestreams command based on the Kobuki's data protocol is the key idea of this research. The result shows that the developed system can be used to run the robot with an embedded system.