Laser on kinetic operator
2010 (English)Doctoral thesis, comprehensive summary (Other academic)
This thesis highlights a variety of aspects within the field of mobile robots. The hinge is system architecture for mobile robots. For a mobile robot to be put into operation all necessary systems have to be functioning and control mechanisms have to be established. The robot may be set to operate autonomously as well as remotely controlled. Either way, different sensors and algorithms may be needed for navigation, obstacle detection, and other functionalities. In this thesis, a methodology to design a flash for illuminating retroreflective beacons is proposed. The flash is used in a navigation system based on CMOS cameras. Furthermore, a method to create a 3D environment model from 2D range data is presented. The result is used in a vehicle simulation software. Two different methods for a vehicle to find its way in an environment are proposed. The first method is intended for use in a winter environment. The idea is to make the vehicle drive between the snow banks on the sides of a road, created when removing the snow from the road with a snow plough. The snow banks are detected using an algorithm working on data from a range measuring laser. The other method finds the free space where the vehicle may move without running into any obstacle. Vehicle modelling and control are discussed. The problem to steer a tractor that is to operate on a rough and slippery surface is studied and a method to compensate for the slippage of the front wheels is presented. An implemented and tested kinematic model for a teleoperated track loader is also presented. Finally, a method for smooth path-following is suggested. The method utilises motion control to force the vehicle to behave smoothly, combined with continual re-routing to, if possible, let the vehicle "cut corners" and take the shortest possible path. The overall goal, to put a mobile robot into operation, may be reached by combining the different aspects discussed in this thesis.
Place, publisher, year, edition, pages
Luleå: Luleå tekniska universitet, 2010. , 150 p.
Doctoral thesis / Luleå University of Technology 1 jan 1997 → …, ISSN 1402-1544
Research subject Industrial Electronics
IdentifiersURN: urn:nbn:se:ltu:diva-17251Local ID: 260fae70-d694-11df-8b36-000ea68e967bISBN: 978-91-7439-157-2OAI: oai:DiVA.org:ltu-17251DiVA: diva2:990252
Godkänd; 2010; 20101013 (hf); DISPUTATION Ämnesområde: Industriell elektronik/Industrial Electronics Opponent: Professor Ivan Kalaykov, Örebro universitet Ordförande: Professor Kalevi Hyyppä, Luleå tekniska universitet Tid: Fredag den 26 november 2010, kl 10.30 Plats: D770, Luleå tekniska universitet2016-09-292016-09-29Bibliographically approved