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Photobot: An Exploring Robot
KTH, School of Industrial Engineering and Management (ITM).
KTH, School of Industrial Engineering and Management (ITM).
2019 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Självnavigerande Robot (Swedish)
Abstract [en]

Sometimes when terrain is inaccessible to humans we use robots to help us explore it. In this project a self navigating robot was created that used ultrasonic sensors to detect obstacles in its path and avoided them. When an obstacle is encountered the robot documents said obstacle by taking photographs of it as well as registered its coordinates and created a map, as a bonus feature. Thereafter the robot continued its path based on where obstacles were absent.

By using stepper motors to drive the robots traveled distance was calculated. With this information a map over the traveled path was created. Tests were conducted where the map was compared to real life as well as letting the robot roam freely. The tests showed the robots ability to evade obstacles and how well the integrated camera function performed.

The placement of the sensors worked well enough considering only five were used. Although the robot would improve significantly if an increased amount of sensors were to be added. The algorithm enabled the robot to navigate and avoid all detected obstacles. It is the sensors that inhibited its navigation since they only detected obstacles directly in front of them.

Since this was a mobile robot it was powered by batteries. The robot would be able to explore to a greater extent if it could recharge its batteries on its own, for example with solar panels. A GPS could be installed to keep track of the robot at all times.

Abstract [sv]

Ibland är okänd terräng av olika skäl otillgänglig för människor och då kan en robot istället skickas ut för att undersöka dessa omgivningar. I detta projekt har en självnavigerande robot skapats där ultraljudssensorer användes för att registrera hinder som sedan dokumenterades. Dokumentationen gjordes genom att fotografera hinder och som en extra funktion registrerades deras koordinater och med dessa skapades en karta. Därefter valdes en ny riktning baserat på vilken väg som var fri från hinder.

Stegmotorer användes för att driva roboten och genom att räkna på de antal steg dessa tog beräknades det avstånd roboten hade förflyttat sig. Med hjälp utav dessa avstånd skapades en karta över den tillryggalagda vägen. Tester utfördes där kartan jämfördes med verkligheten samt låta roboten upptäcka på fri hand. Detta visade hur väl den undvek hinder och hur väl den integrerade kamerafunktionen fungerade.

Sensorernas placering fungerade bra med tanke på att endast fem användes. Däremot kan fler adderas för en mer exakt avläsning. Algoritmen fungerade väl då roboten parerade alla upptäckta hinder. Det var endast sensorerna som hämmade robotens navigering då de bara upptäckte hinder direkt framför dem.

Då roboten var mobil behövdes batterier för att ge den ström. En framtida förbättring innefattar därför exempelvis att addera en solpanel som kan ladda batterierna för att göra den ytterligare självständig. Dessutom kan en GPS installeras för att kunna bevaka var roboten befinner sig i alla situationer.

Place, publisher, year, edition, pages
2019. , p. 59
Series
TRITA-ITM-EX ; 2019:41
Keywords [en]
Mechatronics, self navigating, mobile robot, ultrasonic sensors, obstacle evasion, photography.
Keywords [sv]
Mekatronik, självnavigerande, mobil robot, ultraljudsensorer, undviker hinder, fotografi.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-264452OAI: oai:DiVA.org:kth-264452DiVA, id: diva2:1373575
Supervisors
Examiners
Available from: 2019-11-27 Created: 2019-11-27 Last updated: 2019-11-27Bibliographically approved

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