Local path planning and execution for mobile target pursuit robots | |
| Author | Goncalves, Sergio Abilio Pereira |
| Call Number | AIT Thesis no.ISE-11-15 |
| Subject(s) | Mobile robots Robots--Control systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Microelectronics and Embedded Systems, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-11-15 |
| Abstract | For a lot of reasons it is interesting to have a device capable of following someone or something, namely for rescue, security, auxiliary services or even just for fun. The current project consists of an autonomous robot of small dimensions equipped with a camera as the main sensor. Using the camera, a virtual map is built and the movements of the robot are planned to chase a previously defined target. This thesis focuses on some of the aspects of the implementation, namely, in the low level, the actuation of the controllers for the motors, and in a higher level, the motion algorithm to keep the robot following the target without colliding against obstacles. For the motors' controller (a ARM Cortex M3 was used for the effect), the velocity is managed by a PID algorithm, which applies the respective value as a PWM waveform. Then, the signals from the encoders are read and the feedback variable is returned to the PID. ROS (Robot Operating System) was used to control the navigation. The path planning is processed by the global_planner from the move_base node, present in ROS. However, for the motion of the robot an algorithm based on repellents and attractors was implemented. |
| Year | 2011 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-11-15 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Mongkol Ekpanyapong; |
| Examination Committee(s) | Matthew N. Dailey;Pudit Laksanacharoen;Tavares, Adriano Jose Conceicao; |
| Scholarship Donor(s) | EM EuroAsia Scholarship Program;AIT.; |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2011 |