Study on the development of an autonomous mobile robot

Dissertação para obtenção do Grau de Mestre em Engenharia Eletrotécnica e de Computadores

This dissertation addresses the subject of Autonomous Mobile Robotics (AMR). It is aimed to evaluate the problems associated with the orientation of the independent vehicles and their technical solutions. There are numerous topics related to the AMR subject. Due to the vast number of topics important for the development of an AMR, it was necessary to dedicate different degrees of attention to each of the topics. The sensors applied in this research were several, e.g. Ultrasonic Sensor, Inertial Sensor, etc. All of them have been studied within the same environment. Employing the information provided by the sensors, a map is constructed, and based on this map a trajectory is planned. The Robot moves, considering the planned trajectory, commanded by a controller based on Linear Quadratic Regulator (LQR) and a specially made model of the robot, through a Kalman Filter (KF). Some of the researched topics were implemented in a real robot in an unstructured environment, collecting measurement data. A final conclusion is indicating the future direction of development.