OTH Amberg-Weiden
Fakultät Elektrotechnik, Medien und Informatik
Studiengang Software-Systemtechnik
Diplomarbeit
| Student: | Marc Steuerer |
| Aufgabensteller: | Prof. Dr.-Ing. Josef Pösl  |
| Durchgeführt in: | OTH Amberg-Weiden, Universität Aalborg (Dänemark) |
| Betreuer (Hochschule): | Prof. Dr.-Ing. Josef Pösl ,
Prof. Dr.-Ing. Alfred Höß ,
Prof. Dr. Anders P. Ravn |
| Abgabedatum: | 7.4.2006 |
Thema
Development of an image processing and controlling software for autonomous navigation of a mobile robot
Zusammenfassung
Nowadays, robots become more important and are used in a wide field of applications. On the basis of this trend, this project has been carried out. The thesis is concerned with the topic to build a software for the autonomous navigation of a mobile robot. The robot uses a camera for the perception of its environment. The elaboration describes the whole way of the systems development process. It starts with the selection of a suitable robot architecture as well as of image processing methods. Further, the technique of finite state machines is introduced. In addition, the design of a software architecture is presented. The paper proceeds with the implementation and the testing of the entire system. Result of this project is a software prototype which provides the basic functionality of the robot system. Finally, the paper closes with an overview about possible improvements as well as system expansions.
Schlüsselworte
mobile robot
,
image processing ,
robot architecture ,
principal component analysis ,
finite
state machine Fachgebiete
Algorithmen
,
Automation ,
Bildverarbeitung ,
Mobiles Gerät ,
Programmierung ,
Roboter