Development of a mobile robot platform to be used in mobile robot research

Download

index.pdf

Date

2013

Author

Gönüllü, Muhammet Kasım

Metadata

Show full item record

Item Usage Stats

321
views

188
downloads

Robotics is an interdisciplinary subject and combines mechanical, computer and electrical engineering components together to solve different kinds of problems. In order to build robotic systems, these disciplines should be integrated. Therefore, mobile robots can be used as a tool in education for teaching engineering concepts. They can be employed to be used in undergraduate, graduate and doctorate research. Hands on experience on a mobile robot increase motivation of the students on the topic and give them precious practical knowledge. It also delivers students new skills like teamwork, problem solving, creativity, by executing robotic exercises. To be able to fulfill these outcomes, universities and research centers need mobile robot platforms that are modular, easy to build, cheap and flexible. However it should be also powerful and capable of being used in different research studies and hence be customizable depending on the requirements of these topics. This thesis aims at building an indoor mobile robot that can be used as a platform for developing algorithms involving various sensors incorporated onto a mobile platform. More precisely, it can be used as a base for indoor navigation and localization algorithms, as well as it can be used as platform for developing algorithms for larger autonomous mobile robots. The thesis work involves the design and manufacturing of a mobile robot platform that can potentially facilitate mobile robotics research that involves use of various hardware to develop and test different perception and navigation algorithms.

Subject Keywords

Mobile robots., Robotics., Human-robot interaction., Mechanical engineering, Mechanical engineering

URI

http://etd.lib.metu.edu.tr/upload/12615654/index.pdf
https://hdl.handle.net/11511/22394

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Development of an educational CFD software for two dimensional incompressible flows Nakiboğlu, Güneş; Sert, Cüneyt; Department of Mechanical Engineering (2007) The main purpose of this research is to develop a Computational Fluid Dynamics (CFD) software to be used as an educational tool in teaching introductory level fluid mechanics and CFD courses. The software developed for this purpose is called Virtual Flow Lab. It has a graphical user interface (GUI) that enables basic pre-processing, solver parameter and boundary condition setting and post-processing steps of a typical CFD simulation. The pressure-based solver is capable of solving incompressible, laminar, s...
Conceptual design and analysis of an industrial type vacuum sweeper Aygün, Buket; Albayrak, Kahraman; Department of Mechanical Engineering (2009) In this thesis, design and development and manufacturing processes of an industrial type vacuum sweeper is presented. Thesis is financially supported by Ministry of Industry and Trade-Turkey and Müsan A.Ş. (Makina Üretim Sanayi ve Ticaret A.Ş.) under SAN-TEZ project number 00028.STZ.2007-1. It is aimed to make innovative design changes and developments on the Müsan VSM 060 type vacuum sweeper. To achieve this aim, alternative configuration designs are prepared by using commercial 3D modeling program, Catia™...
Development of a shell finite element for large deformation analysis of laminated composites Yıldız, Tuba; Darendeliler, Haluk; Department of Mechanical Engineering (2008) The objective of the present work is to investigate the behavior of laminated fiber -reinforced polymer matrix composite shell structures under bending load with the help of a modified finite element computer code which was previously developed for the analysis of pseudo-layered single material shells. The laminates are assumed to be orthotropic and the formulation is adapted to first order shear deformation theory. The aim is to determine the large deformation characteristics numerically, and to predict th...
Investigation of wear behavior of aged and non-aged SiC-reinforced AlSi7Mg2 metal matrix composites in dry sliding conditions ÇELİK, YAHYA HIŞMAN; Demir, Mehmet Emin; KILIÇKAP, EROL; Kalkanlı, Ali (Springer Science and Business Media LLC, 2020-01-01) Metal matrix composites (MMCs) with their splendid mechanical properties have been specifically designed for use in fields such as aerospace and aviation. The presence of hard ceramic particles in MMC increases the hardness of the matrix product and decreases its coefficient of friction. Therefore, the wear resistance is improved. Moreover, the mechanical properties of these composite materials can be improved by applying heat treatments. In this study, AlSi7Mg2 MMCs with 15 wt% SiC reinforcement were produ...
Mechanical properties identification of viscoelastic / hyperelastic materials based on experimental data Tabakcı, Alican; Konukseven, Erhan İlhan; Erkmen, Aydan Müşerref; Department of Mechanical Engineering (2010) Mechanical simulation of viscoelastic materials and assigning a viscoelastic material to the modeled parts in the simulations are difficult task. For the simulations, material model should be well chosen and material coefficients of the chosen models should be known. In order to obtain accurate simulations, hyperelastic characteristics of the viscoelastic materials should be investigated and hyperelastic model should be incorporated in the solutions. Material models and material model’s coefficients are cho...

Citation Formats

M. K. Gönüllü, “Development of a mobile robot platform to be used in mobile robot research,” M.S. - Master of Science, Middle East Technical University, 2013.