Development of local geometrical planning for omni-directional robot
Tutor / director / evaluatorSuárez Feijóo, Raúl
Document typeMaster thesis
Rights accessOpen Access
The goal of this work is the development of an obstacle avoidance algorithm for the mobile platform of the Mobile Anthropomorphic Dual-Arm Robot (MADAR), designed by the Institute of Industrial and Control Engineering (IOC) and Mechanical Engineering Department at the Universidad Politècnica de Catalunya (UPC). The algorithm takes as inputs laser measurements from the front scanner that the robot is equipped, and the vector of the goal to reach. A local geometrical planning is adopted, it is reactive and applied continuously each time that the scanner samples (frequency = 15 Hz). A heuristic is used to choose the direction of motion, which tries to execute the shorter path that the robot needs to cover in order to reach the goal. It is validated the implementation with experimentation on the real robot. In conclusion, the algorithm can be consider a possible solution for obstacle avoidance problems on every omni-directional robots or also, its logic could be reused as a part of other kind of algorithms to improve them.