Λεπτομέρειες βιβλιογραφικής εγγραφής
| Τίτλος: |
Integration of navigation software and end-consumer hardware in a mobile robotics application |
| Συγγραφείς: |
Perunka, Sampo |
| Συνεισφορές: |
Tekniikan ja luonnontieteiden tiedekunta - Faculty of Engineering and Natural Sciences, Tampere University |
| Έτος έκδοσης: |
2026 |
| Θεματικοί όροι: |
Teknisten tieteiden kandidaattiohjelma - Bachelor's Programme in Engineering Sciences, robots, robotics, automation, industrial automation, computer programmes, programming, operating systems, applications (computer programmes), sensors, rear wheel drive |
| Περιγραφή: |
This thesis includes uniform proof of concept in both conceptual and practical home automation and mobile robotics applications. When applied to a niche of your choosing, this thesis is aimed at helping you understand communication concepts and protocols within the Robot Operating System, and then clarifying said principles in the real-world context of the work. This thesis should also help you view your home robotics project as more approachable. First, a clear outline is given on what the robot must be able to perform with the given equipment and hardware, and what software must be implemented to conform to the required functionality. The goals of the thesis are to savour the benefits of full core robotics implementation in older machinery that is hard to access from the outside of the purposed kernel. Main questions researched in the paper include “Why choose ROS in personal robotics applications” and “Why isn’t ROS used more across these sorts of projects?”, and the flow of the thesis work follows suite to what the robot is decreed to require at any given objective, ex. augmented libraries for the LEGO hardware. Thesis work is comprised of 4 main chapters: 1. Setting the stage for robot development. Concrete goals and research orientations. 2. Mechanical design of the robot in multiple iterations to allow for as much freedom. 3. Software implementation through ROS and top-down system architecture toponomy. 4. Actuation of hardware in the LEGO kit, further software development and wrap up. The work features diagrams and visualizations to make understanding concepts easier to the reader. Results of the work itself consist of mechanical performance, sensory performance and software performance and some insights on what could have been different or more effective. It also answers the research questions and what design choices could have been made to further improve the robot core. The most important takeaway from the resources is that the software work is difficult for beginners, requires a lot of resources, and ... |
| Τύπος εγγράφου: |
bachelor thesis |
| Περιγραφή αρχείου: |
fulltext |
| Γλώσσα: |
English |
| Relation: |
Rollyy Oy; https://trepo.tuni.fi/handle/10024/234314 |
| Διαθεσιμότητα: |
https://trepo.tuni.fi/handle/10024/234314 |
| Rights: |
This publication is copyrighted. You may download, display and print it for Your own personal use. Commercial use is prohibited. ; openAccess |
| Αριθμός Καταχώρησης: |
edsbas.90AC3D74 |
| Βάση Δεδομένων: |
BASE |