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Navigating Robot: Indoor Navigation Using Color Tracking and Ultrasonic Range Finders
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2015 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

Indoor navigation for autonomous vehicles and robots is an area of research and development with great promises for both current and future applications. Examples include robots assisting humans in indoor tasks, and industrial applications such as warehouse management using autonomous robots [Jensen, 2001]. This project examines the possibilities and limitations of navigating an autonomous vehicle in an enclosed area with the aid of visual recognition software and distancing sensors. The navigation works by using two sets of references: the distance and the relative angle to a point of origin that in this project is a visual reference attached to a flat and visually clean background. The autonomous vehicle is constructed with open source hardware and utilizes already available visual recognition software and all control software is written in Python 2.7. The scope of the project limits the navigation of the robot on a flat surface with no obstacles and with access to a nearby flat wall with a visual reference. A demonstrator was built and empirically tested for its navigational accuracy. The positional accuracy was found to have a mean deviation of ± 1 and ± 4.5 centimeters for the x and y-axis respectively.

Abstract [sv]

Navigering och lokalisering inomhus är ett hett forskningsområde både inom vetenskapen och ingenjörstillämpningar. Exempel på system som kan förbättras med sådan teknik är robotar som assisterar människor i hemmet samt automatisering av industrirobotar som är fria att röra sig över golvytor [Jensen, 2001]. Detta kandidatexamensprojekt undersöker möjligheterna och begränsningarna av navigering inomhus för en autonom robot med hjälp av färg-igenkännande bildbehandling och avståndssensorer. Navigeringen sker med hjälp av två riktmärken: en visuell referens monterad på en plan vägg och avståndet mellan robot och vägg. Robotens interna styrelektronik, sensorer samt mjukvara är alla open source. Bredden av projektet begränsas av villkoren att navigationen sker på en plan yta utan hinder samt tillgång till en plan vägg med en visuell referens. Slutgiltiga systemets navigationssäkerhet kontrollerades och mättes empiriskt och uppskattades till att ha en medelavvikelse på ± 1 cm och ± 4.6 cm för x respektive y-axeln.

Place, publisher, year, edition, pages
2015.
Series
MMKB 2015:13 MDAB 066
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-184496OAI: oai:DiVA.org:kth-184496DiVA: diva2:916204
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Examiners
Available from: 2016-04-07 Created: 2016-04-01 Last updated: 2016-04-07Bibliographically approved

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