Akademik Veri Yönetim Sistemi
Özdağ E., SABUNCU O., Yenilmez M.
Yükseköğretim Kurumları Destekli Proje, Üniversite Destekli Diğer Projeler, 2020 - 2020
"In this project we will build an autonomous mobile robot, which is composed of wheeled robot hardware and a software layer called robot control architecture. The software architecture is a Robot Operating System (ROS) middleware based layer and it paves the way for programming the robot to perform various tasks. Considering the nature and capabilities of the robot, these tasks are mainly related to movement of the robot to a target for pickup and delivery, for surveillance, or for guiding other robots or people in an unknown environment. For instance places like airports, hospitals, or campuses can be challenging for visitors in finding their ways to target gates, rooms, or offices. While this software layer should be uniform interface between the robotic programmer and the robot, it should also be versatile enough to cover these different tasks. In terms of the robot hardware, we aim to constrain the total cost EYMO in the affordable range In this way, we envision several robots based on our platform can be built in future research projects that focus on multiple robots.Considering the mentioned tasks, it is a necessity that our robot must be capable of building maps of its environment. For instance consider that the robot is placed in a level of a building in our campus. Our robot should build a map of the floor so that whenever a visitor wants to go to a specific office, it can guide the visitor by navigating to the desired target location. On top of the generated map we want our robot get external user commands in the form of `go to this location`. The robot control architecture will be capable of planning a route for the robot from its current location to the desired target location. To this end, we will research robot routing algorithms. In order to validate our robot's path finding capabilities we will conduct empirical evaluation based on mazes. We plan to place our robot in a maze like environment and give orders to the robot in order to find a target location in this maze.In order to facilitate the development of our robot platform, we will use the Turtlebot Burger as a reference robot. Turtlebot Burger is a commercially available small sized wheeled robot which is modular and customizable. Turtlebot platform is one of the mostly selected platforms for education, research and product development due to its official support for the ROS middleware. It will not only guide us in the building process of our robot platform hardware, but also enable us to work in parallel on the development of the robot control software level based on ROS without waiting our robot hardware becomes fully functional."