Navigation and taxis behaviorof the Kompaï Robot
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
The Kompaï robot was partly developed for the purpose of assisting the elderly and people with special needs. The major related functionalities addressed in the thesis are navigating the Kompaï robot in a given environment and exhibiting the position taxis behavior.The overall objective of the project is to incorporate the Kompaï with the above mentioned features, thus supporting the idea of a robot companion to humans and also creating a platform by which future innovate ideas could be developed on the Kompaï robot.To achieve this, a cognitive system was developed which allows the Kompaï robot to display follow path behavior and position taxis behavior. The system encapsulates inter related activities such as representing the environment as a two dimensional grid map, developing a strategy to plan a path towards the destination, executing motor actions to follow the path, estimating the position of the robot as it follows the path in the map by acquiring and interpreting sensory information and developing a strategy that allows the Kompaï robot to reflexively move towards an object/RFID tag position in the environment.The results from the experiments show that the developed cognitive system, allows the Kompaï robot to navigate between two locations in the given environment and exhibit position taxis behavior.
Place, publisher, year, edition, pages
, UMNAD, 970
Engineering and Technology
IdentifiersURN: urn:nbn:se:umu:diva-81121OAI: oai:DiVA.org:umu-81121DiVA: diva2:652917
Master's Programme in Computing Science