PhD. Theses

Rozman, J.: Navigace mobilních robotů, Brno, CZ, 2011, p. 96

Publication language:

czech

Original title:

Navigace mobilních robotů

Title (en):

Navigation of mobile robots

Pages:

Place:

Brno, CZ

Year:

2011

Files:

Keywords

robotics, SLAM, Delaunay Triangulation, Constrained Delaunay Triangulation, particle

filter, path-planning, goal point selection, active vision

Annotation

Mobile robotics has been very discussed and wide spread topic recently.
This due to the development in the computer technology that allows us to create
better and more sophisticated robots. The goal of this effort is to create robots
that will be able to autonomously move in the chosen environment. To achieve this goal,
it is necessary for the robot to create the map of its environment, where
the motion planning will occur. Nowadays, the probabilistic algorithms based
on the SLAM algorithm are considered standard in the mapping in these times.
This Phd. thesis deals with the proposal of the motion planning of the robot with
stereocamera placed on the pan-and-tilt unit. The motion planning is designed with
regard to the use of algorithms, which will look for the significant features
in the pair of the images. With the use of the triangulation the map, or a model will be created.

The benefits of this work can be divided into three parts. In the first one the way
of marking the free area, where the robot will plan its motion, is described. The second part
describes the motion planning of the robot in this free area. It takes into account
the properties of the SLAM algorithm and it tries to plan the exploration in order to create
the most precise map. The motion of the pan-and-tilt unit is described in the third part.
It takes advantage of the fact that the robot can observe places that are in the different
directions than the robot moves. This allows us to observe much bigger space without
losing the information about the precision of the movements.

BibTeX:

@PHDTHESIS{
   author = {Jaroslav Rozman},
   title = {Navigace mobilních robotů},
   pages = {96},
   year = {2011},
   location = {Brno, CZ},
   language = {czech},
   url = {http://www.fit.vutbr.cz/research/view_pub.php?id=9825}
}

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