Development of local geometrical planning for omni-directional robot

The goal of this work is the development of an obstacle avoidance algorithm for the mobile platform of the Mobile Anthropomorphic Dual-Arm Robot (MADAR), designed by the Institute of Industrial and Control Engineering (IOC) and Mechanical Engineering Department at the Universidad Politècnica de Cata...

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Detalhes bibliográficos
Autor: Chialà, Francesco
Tipo de documento: dissertação
Data de publicação:2019
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositório:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglês
OAI Identifier:oai:upcommons.upc.edu:2117/182319
Acesso em linha:https://hdl.handle.net/2117/182319
Access Level:Acceso aberto
Palavra-chave:Robot hands
Manipulators (Mecanism)
Algorithms
Mans mecàniques
Manipuladors (Mecanismes)
Algorismes
Àrees temàtiques de la UPC::Informàtica
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oai_identifier_str oai:upcommons.upc.edu:2117/182319
network_acronym_str ES
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repository_id_str
spelling Development of local geometrical planning for omni-directional robotChialà, FrancescoRobot handsManipulators (Mecanism)AlgorithmsMans mecàniquesManipuladors (Mecanismes)AlgorismesÀrees temàtiques de la UPC::InformàticaThe goal of this work is the development of an obstacle avoidance algorithm for the mobile platform of the Mobile Anthropomorphic Dual-Arm Robot (MADAR), designed by the Institute of Industrial and Control Engineering (IOC) and Mechanical Engineering Department at the Universidad Politècnica de Catalunya (UPC). The algorithm takes as inputs laser measurements from the front scanner that the robot is equipped, and the vector of the goal to reach. A local geometrical planning is adopted, it is reactive and applied continuously each time that the scanner samples (frequency = 15 Hz). A heuristic is used to choose the direction of motion, which tries to execute the shorter path that the robot needs to cover in order to reach the goal. It is validated the implementation with experimentation on the real robot. In conclusion, the algorithm can be consider a possible solution for obstacle avoidance problems on every omni-directional robots or also, its logic could be reused as a part of other kind of algorithms to improve them.Universitat Politècnica de CatalunyaSuárez Feijóo, Raúl20192019-10-0920202020-03-31master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/182319reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2http://creativecommons.org/licenses/by-nc-sa/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1823192026-05-27T15:37:01Z
dc.title.none.fl_str_mv Development of local geometrical planning for omni-directional robot
title Development of local geometrical planning for omni-directional robot
spellingShingle Development of local geometrical planning for omni-directional robot
Chialà, Francesco
Robot hands
Manipulators (Mecanism)
Algorithms
Mans mecàniques
Manipuladors (Mecanismes)
Algorismes
Àrees temàtiques de la UPC::Informàtica
title_short Development of local geometrical planning for omni-directional robot
title_full Development of local geometrical planning for omni-directional robot
title_fullStr Development of local geometrical planning for omni-directional robot
title_full_unstemmed Development of local geometrical planning for omni-directional robot
title_sort Development of local geometrical planning for omni-directional robot
dc.creator.none.fl_str_mv Chialà, Francesco
author Chialà, Francesco
author_facet Chialà, Francesco
author_role author
dc.contributor.none.fl_str_mv Suárez Feijóo, Raúl
dc.subject.none.fl_str_mv Robot hands
Manipulators (Mecanism)
Algorithms
Mans mecàniques
Manipuladors (Mecanismes)
Algorismes
Àrees temàtiques de la UPC::Informàtica
topic Robot hands
Manipulators (Mecanism)
Algorithms
Mans mecàniques
Manipuladors (Mecanismes)
Algorismes
Àrees temàtiques de la UPC::Informàtica
description The goal of this work is the development of an obstacle avoidance algorithm for the mobile platform of the Mobile Anthropomorphic Dual-Arm Robot (MADAR), designed by the Institute of Industrial and Control Engineering (IOC) and Mechanical Engineering Department at the Universidad Politècnica de Catalunya (UPC). The algorithm takes as inputs laser measurements from the front scanner that the robot is equipped, and the vector of the goal to reach. A local geometrical planning is adopted, it is reactive and applied continuously each time that the scanner samples (frequency = 15 Hz). A heuristic is used to choose the direction of motion, which tries to execute the shorter path that the robot needs to cover in order to reach the goal. It is validated the implementation with experimentation on the real robot. In conclusion, the algorithm can be consider a possible solution for obstacle avoidance problems on every omni-directional robots or also, its logic could be reused as a part of other kind of algorithms to improve them.
publishDate 2019
dc.date.none.fl_str_mv 2019
2019-10-09
2020
2020-03-31
dc.type.none.fl_str_mv master thesis
http://purl.org/coar/resource_type/c_bdcc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/182319
url https://hdl.handle.net/2117/182319
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-sa/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-sa/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universitat Politècnica de Catalunya
publisher.none.fl_str_mv Universitat Politècnica de Catalunya
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869404420614127616
score 15,228081

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