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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.

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Keyword [en]
Keyword [sv]
URN: urn:nbn:se:ltu:diva-55596Local ID: c71499db-33ec-479e-8983-43302804493cOAI: diva2:1028980
Subject / course
Student thesis, at least 30 credits
Educational program
Mechanical Engineering, master's level
Validerat; 20140407 (global_studentproject_submitter)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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