Utilize este identificador para referenciar este registo: http://hdl.handle.net/10362/12196
Título: Study on the development of an autonomous mobile robot
Autor: Coito, Francisco Miguel da Silva Vieira do
Orientador: Valtchev, Stanimir
Babuska, Robert
Data de Defesa: 2014
Editora: Faculdade de Ciências e Tecnologia
Resumo: This dissertation addresses the subject of Autonomous Mobile Robotics (AMR). It is aimed to evaluate the problems associated with the orientation of the independent vehicles and their technical solutions. There are numerous topics related to the AMR subject. Due to the vast number of topics important for the development of an AMR, it was necessary to dedicate different degrees of attention to each of the topics. The sensors applied in this research were several, e.g. Ultrasonic Sensor, Inertial Sensor, etc. All of them have been studied within the same environment. Employing the information provided by the sensors, a map is constructed, and based on this map a trajectory is planned. The Robot moves, considering the planned trajectory, commanded by a controller based on Linear Quadratic Regulator (LQR) and a specially made model of the robot, through a Kalman Filter (KF). Some of the researched topics were implemented in a real robot in an unstructured environment, collecting measurement data. A final conclusion is indicating the future direction of development.
Descrição: Dissertação para obtenção do Grau de Mestre em Engenharia Eletrotécnica e de Computadores
URI: http://hdl.handle.net/10362/12196
Aparece nas colecções:FCT: DEE - Dissertações de Mestrado

Ficheiros deste registo:
Ficheiro Descrição TamanhoFormato 
Coito_2014.pdf3,15 MBAdobe PDFVer/Abrir


FacebookTwitterDeliciousLinkedInDiggGoogle BookmarksMySpace
Formato BibTex MendeleyEndnote 

Todos os registos no repositório estão protegidos por leis de copyright, com todos os direitos reservados.