Year: 2020
Type: dissertation
Abstract: Autonomous robots are employed in numerous areas. In this thesis, it is proposed to design and build a self-controlled wheeled vehicle to deliver food.\nAs there are many applications of an autonomous agent for indoor and outdoor environments, this study is conducted on indoor settings whereas all the requirements and design processes are achieved for both operational boundaries.\nThe fundamental approach is to design and implement a Wheeled Mobile Robot (WMR), and to test skid-steering performance on proposed trajectories using a System Engineering approach. From this point of view, system requirements in mechanical, electrical, and software are evaluated, and overall system is divided into subblocks which are motor processor, image processor, and central processor.\nOne of main concerns is indoor and outdoor positioning. While outdoor tasks are widely solved in terms of the Global Positioning System (GPS) technology, indoor navigation appears with challenges. Hence, it is aimed to acquire a deeper understanding in mobile robot indoor localization through Deep Neural Networks (DNN) and learning algorithms.
Author: Tolga Karakurt
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
Funder: University of South Florida
OpenAlex ID: W3048442599