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Robot Thesis

Robot Thesis

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Published by Praveen Singh

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Published by: Praveen Singh on Sep 14, 2010
Copyright:Attribution Non-commercial


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FACULTEIT IngenieurswetenschappenVAKGROEP Werktuigkunde
Autonomous Mobile RobotMechanical Design
Eindwerk ingediend tot het behalen van de academische graadburgerlijk werktuigkundig-elektrotechnisch ingenieur
Kristof GorisAcademiejaar
Promotor: Prof. Dr. Ir. Dirk LefeberCo-Promotor: Prof. Dr. Ir. Hichem Sahli
Autonomous Mobile Robot: Mechanical Design
Many people have helped me along the way. Their guidance, good humour, adviceand inspiration sustained me trough the months of work. First of all, I’d like to thank all of them.Furthermore, I thank Mark and Guillermo for a nice cooperation during this project.I wish to thank my promotors Prof. Dr. Ir. Dirk Lefeber and Prof. Dr. Ir. HichemSahli for proposing this challenging project. And for their confidence in my abilities.Many thanks go out to my supervisors, the support of Ir. Ronald Van Ham, Ir. BramVanderborght, Ir. Thomas Geerinck, and Ir. Geert De Cubber kept me on the righttrack during the year.Many thanks go out to Jean-Paul Schepens,André Plasschaert, Gabriël Van denNest, Daniel Debondt, Eduard
Schots and Thierry Lenoir for their technical support,great work, and patience with me.Furthermore, I wish to thank the WERK department for placing its infrastructure andmaterial at my disposal.Finally I’d like to thank family and friends for being so supportive. I wouldn’t havemanaged without them.II
Autonomous Mobile Robot: Mechanical Design
Executive Summaries
Autonomous Mobile Robot: Mechanical Design
The design of autonomous mobile robots capable of intelligent motion and actionwithout requiring either a guide to follow or a teleoperator control involves theintegration of many different bodies of knowledge. This makes mobile robotics achallenge worthwhile. To solve locomotion problems the mobile roboticist mustunderstand mechanisms and kinematics, dynamics and control theory. To createrobust perceptual systems, the mobile roboticist must leverage the fields of signalanalysis and specialized bodies of knowledge such as computer visions to properlyemploy a multitude of sensor technologies. Localization and navigation demandknowledge of computer algorithms, information theory, artificial intelligence, andprobability theory.This thesis aims at building a locomotion mechanism that forms the base of acomplete mobile robot system capable of finding its way autonomously through apath filled with obstacles. To accomplish this task, locomotion mechanisms and theirkinematics have to be studied, mechanisms have to be designed and developed. Theimplementation of high and low level operating systems and electronics is requiredas well to control the chassis’ motion.III

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