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Motion Planning And Control Of An Omni-directional Mobile Robot With Caster Wheels
| Content Provider | Semantic Scholar |
|---|---|
| Author | Λάντος, Κωνσταντίνος |
| Copyright Year | 2011 |
| Abstract | This diploma thesis deals with issues that concern mobile robots, such as localization of the mobile robot and its navigation in space, specifically motion planning and control of the robot's movement. Particularly omni-directional mobile robots with caster wheels are studied. Furthermore, issues of micro-controller programming, wireless communication, communication with host computer and development of user interface, are presented. The purpose of the work is to develop a system for controlling an omni-directional robot. The system must include localization methods and trajectory planning, motor driving and communication with sensors. Furthermore, the system must be flexible so that it can be applied to several kind of configurations of omni-directional robot with caster wheels (two wheels, three wheels, etc.) without major changes in programming. The system design should be modular, with individual components that will communicate internally. Initially the system was designed for an omni-directional robot with three caster wheels. In this dissertation the kinematic model for this robot is developed, but may easily modified to apply to other configurations of omni-directional robot with caster wheels. Based on this kinematic model we develop methodologies for calculating the odometry for localizing the robot. The most important components are the micro-controller PIC program to drive the wheel motors and the user interface program running on a computer with Windows environment. Even the programs themselves are composed of software modules, including wireless and wired communication, communication with sensors, odometry calculation etc. Moreover, a simulation of the robot is developed in MatLAB environment for the study of various motion planning algorithms. Goal is to find the best algorithm to be used in the system, which calculates the desired motion profile (position-velocity) to give as input to the system. Finally the system is applied on two different omni-directional robots (with different configurations) to test its versatility. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://artemis.cslab.ntua.gr/el_thesis/artemis.ntua.ece/DT2011-0162/DT2011-0162.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
