Nežinomo ploto dengimas yra aktuali ir paplitusi problema. NPD sprendimas realiuose robotuose susiduria su daviklių ir mechanizmų netikslumu. Atliktame darbe yra pateiktas „Bouncing“ NPD algoritmo sprendimas robotui, turinčiam mažo tikslumo daviklius ir neprecizinius valdiklius. Taip pat atliktas darbas parodė sudėtingus roboto kūrimo aspektus ir galimus sprendimus. Sukurtas robotas dėl pigumo ir nesudėtingos realizacijos gali būti naudojamas kaip platforma kitokių algoritmų tyrimui. / The problem of unknown area coverage with mobile robots has received considerable attention over the past years. This problem is a common challenge in many applications, including automatic lawn mowing and vacuum cleaning. However, most of the approaches find difficult to implement in real life because of problems of environment data reading. In this paper we consider the problem of robust area covering algorithm implementation in mobile robot. The chosen approach is based on simple and robust algorithm for uncertain environment and simple robot platform. The results showed robustness, reliability of chosen method of control. The constructed robot has shown simplicity, cheapness of creation and possibility for different algorithm testing. The significance of this paper lies in the practical solution for robust mobile robot area coverage, suitable for noisy environment and low precisions robot sensors.
| Identifer | oai:union.ndltd.org:LABT_ETD/oai:elaba.lt:LT-eLABa-0001:E.02~2009~D_20101125_190737-99166 |
| Date | 25 November 2010 |
| Creators | Zachaževski, Stanislav |
| Contributors | Čivilis, Alminas, Vilnius University |
| Publisher | Lithuanian Academic Libraries Network (LABT), Vilnius University |
| Source Sets | Lithuanian ETD submission system |
| Language | Lithuanian |
| Detected Language | English |
| Type | Master thesis |
| Format | application/pdf |
| Source | http://vddb.laba.lt/obj/LT-eLABa-0001:E.02~2009~D_20101125_190737-99166 |
| Rights | Unrestricted |
Page generated in 0.002 seconds