Development of the autonomous scrubbing machine B75i.
Domestic robots, such as vacuum cleaners or lawn mowers, are mostly based on a low-cost design to make them affordable for the consumer. This often results in such robots being equipped with only simple sensors, such as in-/outside area detectors for …
Abstract The Segway Loomo is a self-balancing segway robot, which is constantly balanced by an internal control system. A local path planning strategy was developed in advance for this robot. For local path planning, a motion model of the robot is needed to determine the effect of velocity commands on the robot’s pose. In the implemented local path planner, a simple motion model of the robot is used, which does not model the effect of the segway robot’s internal control on its motion.
Aufbau des Deutschen Rettungsrobotik-Zentrums (A-DRZ)
Abstract The focus of this work is on extending the functionality of the robot platform Loomo. Using cartography and navigation methods, the basis for an autonomous system is created. In addition, the recognition and storage of AR markers simplifies human-robot interaction by enabling targeted navigation to specific locations. The implementation of the used software components ROS, Movebase, RTAB-Map and ALVAR is described in detail and tested in an experimental setting.
Abstract The demand among the population for household robots continues to rise. These include in particular mobile cleaning and lawn mowing robots. These are usually very expensive and still very inefficient. Especially for lawn mowing robots, it is essential to have visited the entire working space in order to perform their task correctly. However, the current state of the art is still random walk algorithms, which are very unreliable and inefficient.
An introduction to the MIRANA project
An introduction to the MIRANA project
Abstract This Bachelor thesis presents an approach for the complete coverage path planning (CCPP) problem which occurs for different robotic applications, such as autonomous lawn mowers or vaccuum cleaners. Methods used for localization [27], map representation [10] and planning [14] are discussed under consideration of sensor noise and uncertainty about the own position induced by the movement of the robot. An efficient method to solve the CCPP problem under uncertainty is proposed and evaluated due to simulations.