טכניון מכון טכנולוגי לישראל
הטכניון מכון טכנולוגי לישראל - בית הספר ללימודי מוסמכים  
M.Sc Thesis
M.Sc StudentLoevsky Igal
SubjectAutonomous Mobile Robot Platform for Indoor Applications
DepartmentDepartment of Industrial Engineering and Management
Supervisor Professor Ilan Shimshoni
Full Thesis textFull thesis text - English Version


Abstract

The use of Mobile Robots widens - and spreads to new fields such as transportation, manufacturing and home assistance. The mission to make smarter, cheaper and versatile robots challenges scientists and engineers around the globe. Our research integrates into these efforts developing a Mobile Robot Platform suitable to be used as a base to many indoor applications. The platform is capable of moving in a flat indoor space, detect its location in the environment, manipulate items, detect obstacles and humans - and react to them. These basic abilities enable the future applications developers to concentrate on the specific problems of their use case. High costs of hardware slow down the absorption of Mobile Robot Applications in the everyday life. With the solidification of customary hardware configuration for a Mobile Robot Platform, viable mass production will bring these hardware prices down. For that reason, it's important to create a Robotic Platforms from cost-efficient hardware components available off-the-shelf. In this aspect lays the engineering contribution of this research. The scientific contribution of this research is the further development of an efficient Indoor Landmark-based Localization method, making it robust to errors and noise. This localization method can be now used in other Mobile Robots as well. The resulting robotic system uses various novel or well known and proven techniques of Robotics and Computer Vision. The system is operational on the level of proof of concept.