In this bachelor thesis, we focus on how the LabVIEW development environment is used for design odometry calculations and a simple obstacle avoidance algorithm for mobile robots. With the LabVIEW Robotics Module, we can easily change the behavior of a sample robot platform (DaNI) by developing algorithms.
This thesis describes first some basic concepts of LabVIEW that will be later used to implement odometry calculations and a simple obstacle avoidance algorithm. Main features of NI LabVIEW and its Robotics toolkit are the first chapters. The position and orientation of the robot are calculated based on the angular velocities of the wheels measured by incremental encoders. By using the LabVIEW Robotic toolkit simulation environment, we can implement and verify the odometry algorithm. Based on the odometry calculations, an obstacle avoidance algorithm is also designed and implemented such that obstacles are detected by on-board ultrasonic sensors. By modify the proposed default obstacle avoidance algorithm in LabVIEW, we can create a variety of additional options.
The implemented and tested results in this thesis may be later used to develop a robot prototypes with application areas such as home cleaning and feeding factory production lines.