Design and Application of Autonomous Mobile Robot
Date
2017-04-06
Authors
Gilmour, Thomas
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Abstract
Application-oriented research on autonomous mobile systems has experienced
a surge of interests. Complicated tasks such as search and rescue,
surveillance, and warehousing can be autonomously conducted with higher
efficiency. In this project, an original prototype for a ground mobile robot was
designed. With the use of computer vision, inertial measurements, and
quadrature encoders the following was implemented - robot localization,
odometry, object avoidance and object detection. ROS (Robot Operating
System) is the chosen software platform, the designed network will allow
future development including multiple agents sharing information
wirelessly in order to effectively complete cooperative tasks. Unique
control algorithms were developed for specific tasks based on the system
dynamics and the available data from various sensors. Finally, the system
proved to successfully demonstrate the ability to navigate a known space
autonomously in a robust manner.
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Keywords
Mobile Robot, Robotics, Navigation, Object Avoidance, SLAM, Computer Vision, Mapping, Autonomous