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Development of a mobile robot platform
2014 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The aim of this thesis is to present a transformed version of an already existing obstacle avoidancemethod for mobile robots; Artificial potential field. In this method the robot can bethought of a charged particle which moves in a field where the obstacles have the same chargeas the robot and thus repel it and a goal position has the opposite charge and thus attracts therobot. The focus lies in transforming this method for robot navigation in unknown environments,utilizing the kinect as a sensor and to account for obstacle height in the calculations.The final algorithm was tested with an mobile robotic platform in several obstacle coursesand the results show a satisfactory behavior. The robot avoids larger obstacles and can chooseto ignore lower ones and is attracted to more open areas in the field of view.

Place, publisher, year, edition, pages
2014.
Keyword [en]
Technology
Keyword [sv]
Teknik
Identifiers
URN: urn:nbn:se:ltu:diva-55596Local ID: c71499db-33ec-479e-8983-43302804493cOAI: oai:DiVA.org:ltu-55596DiVA: diva2:1028980
Subject / course
Student thesis, at least 30 credits
Educational program
Mechanical Engineering, master's level
Supervisors
Examiners
Note
Validerat; 20140407 (global_studentproject_submitter)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf