| Abstract |
In the field of robotics there are experiments that cannot be carried out without real robots. Although there are many simulation environments, which permit fast and easy evaluation of proposed algorithms, there are always more or less significant, real-world parameters that cannot or shouldn't be modelled. Especially for agent-based behaviour algorithms it is stated that intelligence must be acquired through active experience with the world. Therefore, an agent can become intelligent only if it is both situated and embodied. Moreover, almost all research fields in robotics require real robots, instead of simulations, as the final stage of evaluation of techniques and algorithms. Hence, the development of robotic systems is an important task in robotics research nowadays. In this thesis we present the complete development and construction of a robotic platform. The primary goal was to provide a complete hardware and software bundle for researchers in the field of machine vision and autonomous mobile robots, taking into account their needs and good or bad experience with other robotic platforms. Apart from that, one of the prerequisites was that the robot should meet the specifications of the middle sized league of the RoboCup robotic soccer competition so as to serve as a testbed for cooperative algorithms and behaviours. The architectural guidelines were laid down after discussions with researchers and students in the field of machine vision and robotics and according to their recommendations and requirements as application writers. These guidelines were followed in all stages of the robot construction which involved theoretic and practical work in three fields: mechanical, electrical/electronic and software engineering. These three were required to interact very closely and were developed together, taking into account and trying many alternative implementations, in order to achieve an optimum balance between ease of use, stability, efficiency and cost.
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Ανάπτυξη μιας ρομποτικής πλατφόρμας: υλικό και λογισμικό για έλεγχο, αντίληψη και κίνηση
