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Mobile robot navigation and control: Applied on PatrolBot
University West, Department of Engineering Science, Division of Automation Systems.
2015 (English)Independent thesis Advanced level (degree of Master (One Year)), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

University west have a production line where a mobile robot could be used in the future for education or research. The production line uses multiple PLCs for control of industrial robots and other machines. To be able to use the mobile robot system it is necessary to have some kind of communication between the mobile robot system and the existing communication in the production line. This project solves this by using the standardized Modbus protocol to connect a PLC to a server running Debian Linux that controls all ro-bots. All additional programming is supposed to be done in the PLC when this system is used. This is because of the frequent use of PLC in industries and ease of debugging. The communication between the PLC and server is setting register values through Modbus for moving robots to targets and getting info from server to PLC. In this project an HMI is created that is a control panel for the mobile robot system. The HMI is created with a fo-cus on being easy to use and quick to learn. A typical application in an industrial environment for mobile robots is to move items between different robot cells. The problem is that a regular industrial robot might need the mobile robot to be within a few millimetres precision to be able to grasp the item and move it, depending on the tool used. This project measured the accuracy of going to targets with the PatrolBot robot. This showed that the robot might need a complementary system like vision for localizing the robot at the loading and unloading stations if moving items between different robot cells.

Place, publisher, year, edition, pages
2015. , 31 p.
Keyword [en]
Robotics, navigation, path planning, mobile robot, PatrolBot
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:hv:diva-8249Local ID: EXD960OAI: oai:DiVA.org:hv-8249DiVA: diva2:856908
Subject / course
Robotics
Educational program
Robotteknik
Supervisors
Examiners
Available from: 2015-09-28 Created: 2015-09-25 Last updated: 2015-09-28Bibliographically approved

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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf