Naslov
RAPOSA - Robot Autónomo Para Operações de Salvamento
(RAPOSA - Autonomous Robot for Rescue Operations)

Autori
Ferreira, Fausto

Vrsta, podvrsta i kategorija rada
Ocjenski radovi, magistarski rad

Fakultet
Instituto Superior Técnico

Mjesto
Lisabon, Portugal

Datum
08.10

Godina
2008

Stranica
119

Mentor
Ventura, Rodrigo ; Lima, Pedro

Ključne riječi
Search and Rescue Robotics, Visual Servoing, Autonomous Docking

Sažetak
Search and Rescue (SAR) Robotics has been gaining an increasing interest in recent years. In spite of that, there is still a considerable amount of work to be developed in terms of autonomy and usability. RAPOSA is a tele-operated robot for SAR operations that has a low level of autonomy. The only tasks that were performed automatically are the inversion of the image and of the commands for the wheels when the robot "flips" upside down. The main goal of this thesis is to endow RAPOSA with a higher autonomy level namely by providing a hole detection mechanism and an autonomous docking to the power and communications cable. In this thesis, the hole detection is performed recurring to the infrared sensors. The autonomous docking is mainly based on vision using also odometry that was developed under this work as well. Side effects of this thesis are shown such as a new communications protocol. The two points cited before were implemented and tested under various circumstances including outdoor environments. The new communications protocol, highly efficient (in terms of packet rate), is used nowadays, having solved some problems of the original one.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo

POVEZANOST RADA