RT info:eu-repo/semantics/masterThesis
T1 Autonomus Telepresence Mobile Robot (ATEMR)
T2 Diseño de un robot móvil autónomo de telepresencia
A1 Guakro Asare, Ephson-Effa
A2 Universidad de Valladolid. Escuela de Ingenierías Industriales
K1 Autonomus navigation
K1 Mobile Robot
K1 Localization
K1 Mapping
K1 Web user interface
K1 3311.02 Ingeniería de Control
AB The recent rise in tele-operated autonomous mobile vehicles calls for a seamless control architecture that reduces the learning curve when the platform is functioning autonomously (without active supervisory control), as well as when tele-operated. Conventional robot plat-forms usually solve one of two problems. This work develops a mobile base using the Robot Operating System (ROS) middleware for teleoperation at low cost. The three-layer architec-ture introduced adds or removes operator complexity. The lowest layer provides mobility and robot awareness; the second layer provides usability; the upper layer provides inter-activity. A novel interactive control that combines operator intelligence/ skill with robot/autonomous intelligence enabling the mobile base to respond to expected events and ac-tively react to unexpected events is presented. The experiments conducted in the robot laboratory summarises the advantages of using such a system.
YR 2022
FD 2022
LK https://uvadoc.uva.es/handle/10324/52660
UL https://uvadoc.uva.es/handle/10324/52660
LA eng
NO Departamento de Ingeniería de Sistemas y Automática
DS UVaDOC
RD 18-nov-2024