The goal of this project was to create a self-fixing system for a mo-bile robot as a part of an assisted living system in a home. To accom-plish that, a new system has been generated in this project called SAS, comprising three steps: self-detection, anomaly-recognition, and self-modification. To be more detailed, the robot should 1) find itself in a mirror using vision sensor data; 2) recognize the presence of flaws in its detected image; and 3) act to deal with the flaws. To demonstrate this approach a specific scenario for the current work was chosen, involving a robot which consisted of a moving base, a camera, a robot arm, and a target to fix. The robot was designed to move around in a simplified intelligent home-like environment outfitted with a mirror and take advantage of the mirror to performself-fixing. As a conclusion, the proposed system (SAS) allowed a mobile robotsome ability to fix its exterior in one simplified context.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:hh-45397 |
| Date | January 2021 |
| Creators | Yinrong, Ma |
| Publisher | Högskolan i Halmstad, Akademin för informationsteknologi |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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