Robust line following algorithms using odometric information for mobile robots

OData support
Dr. Kiss Bálint
Department of Control Engineering and Information Technology

Nowadays use of mobile robots is increasing at more and more areas of life, for example space research, conveyance of materials within stores and household vacuum cleaner robots. There are varied methods for the robots determining their own position and the required orbit they need to follow. Inter alia: optical positioning based on camera system, GPS tracking, and the mensuration of field by laser distance sensors.

This thesis deals with questions of indoor mobile robots orientating by use of line following algorithm, involving odometric information, which increases the robustness of the path tracking.

As the result of this work, the robot is able to follow the passive optical markings painted on floor, can handle dirty and incomplete markings, and is able to bypass small obstacles on the path.

The implementation was tested in lab environment, simulating real situations. The test results, the experiences of implementation and further development opportunities are also part of the thesis.


Please sign in to download the files of this thesis.