Simulation of autonomausly controlled mobile robot in MS Robotic Developer Studio

Abstract

The thesis shows main features of the MS Robotic Developer Studio environment i.e. it's service oriented architecture, simulation features using physics engine backed up by NVIDIA PhysX and multi language development support. On this basis a new indoor environment is developed and state of the art VFH algorithm is implemented for control Pioneer Active Media Robot. The control of robot is possible over the ethernet network and resulted robot path is visualized. The first part of the thesis presents the MS RDS developing process of simulation and how to exploit devices from MS library . The second part is a description of the obstacle avoidance algorithm. The third part provides detailed implementation of simulation and base center implementation in C# language.