Thesis supervisor: Sándor Hajdu
Location of studies (in Hungarian): University of Debrecen, Doctoral School of Informatics Abbreviation of location of studies: DE IK
Description of the research topic:
Today, mobile robots are often used in production lines carrying out various tasks. Navigation, control and perception of mobile robots are intensively researched fields. In order to increase the flexibility of these mobile robots, it is a common practice to add a serial manipulator arm to their basic structures adding several degrees of freedom to the whole system. These so called mobile manipulators are not limited only to the industry but also can work in various fields such as service, assistance, teleoperation and also rehabilitation. Autonomous mobile manipulators can use a variety of techniques to navigate the environment and determine the position and orientation from sensory inputs. Visual odometry is one of the possible methods which can provide information for an autonomous mobile manipulator to determine the position and orientation of the system as the vehicle moves. The main task of visual servoing is to control the vehicle and the serial robotic arm, relative to the goal, using visual information extracted from an image of the goal object. The aim of this research is to develop the visual servoing of a mobile manipulator containing a mobile robot and a serial robotic arm.
References:
[1] Zhou, K.: Robust and Optimal Control, Prince Hall, New Jersey, 1996.
[2] Sereinig, M., Werth, W. and Faller, L.M.: A review of the challenges in mobile manipulation: systems design and RoboCup challenges, e & i Elektrotechnik und Informationstechnik, pp.1-12., 2020.
[3] Mihelj, M., et al.: Robotics, Springer International Publishing AG, 2019.
[4] P. Corke.: Robotics, Vision and Control, Fundamental Algorithms in MATLAB. Springer, 2011.
Deadline for application: 2022-11-15
2024. IV. 17. ODT ülés Az ODT következő ülésére 2024. június 14-én, pénteken 10.00 órakor kerül sor a Semmelweis Egyetem Szenátusi termében (Bp. Üllői út 26. I. emelet).
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