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Title |
Autonomous robot navigation with artificial potential fields |
Alternative Title |
Αυτόνομη ρομποτική πλοήγηση με χρήση τεχνητών δυναμικών πεδίων |
Author
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Μαραυγάκης, Μιχαήλ
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Thesis advisor
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Τραχανιάς, Πάνος
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Abstract |
The objective of this thesis is the development of an algorithm for autonomous robot navigation in a well-known environment. The method that
was used was Artificial Potential Fields (APF), which is an online reactive
navigation method that has been studied extensively over the years. After an
overview of the basic theory of APF, its mathematical structure is presented
and explained analytically.
The development was done by using the Robot Operating System (ROS)
and the testing occurred in a sophisticated simulation platform, the Gazebo.
The robot that the algorithm was implemented to, was an Unmanned Aerial
Vehicle (UAV), the Firefly, part of the Ascending Technologies research line.
Moreover, a real-time 3D environment mapping application was constructed
by using a Visual-Inertial (VI) sensor.
Although the algorithm is limited due to the assumption of prior knowledge of the environment, it manages to safely reach the goal point by creating
a collision-free path. It works fast and finds the optimal path in almost every
configuration that it has been tested on. Additionally, in order to solve a
pretty common problem of the APF method -the local minimum trap-, an indoors navigation algorithm was developed that manages to escape and plans
an alternative path. Finally, the 3D mapping produces satisfying results, by
mapping all the navigated area perfectly.
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Language |
English |
Issue date |
2020-11-20 |
Collection
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School/Department--School of Sciences and Engineering--Department of Physics--Graduate theses
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Type of Work--Graduate theses
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Permanent Link |
https://elocus.lib.uoc.gr//dlib/1/b/9/metadata-dlib-1606473082-242489-32255.tkl
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Views |
207 |