Adding Autonomous Behavior to Resquake Robots
This thesis focuses on adding basic autonomous behaviors to a tracked mobile robot called Silver. Silver was initially designed and manufactured by resquake to perform as a fully tele-operative platform in the real environments and especially to be used in the buildings that are heavily destructed by earthquake. After testing the successful platform in several standard environments such as International RoboCup Rescue Arenas and developing the platform since 2005, adding autonomous behavior is now the main research criteria in Resquake. We started by simplified indoor environments with mostly polygonal structures. Self localization and mapping based on a genuine line fitting algorithm that only processes LASER range finder distance data, is the first objective in this thesis. Providing vector information about the polygonal objects of the environment and the need of very low computing effort are the most important outcomes of this algorithm. Localization and mapping algorithm is then used to help robot in exploring the environment. To avoid touching the walls and objects at the same time staying close to them, covering the arena and realizing the end of exploration mission are the main goals of the navigation and exploration algorithm which is based on Fuzzy logic. The last objective of the thesis is autonomous staircase detection and autonomous staircase climbing. A smart sensor placement helps the robot find and climb the staircase fast, safely and smoothly. Successfulness of every part of the thesis is proven by doing several experiments. An experiment result is discussed at the end of each section of the thesis and to conclude the research, all results are provided and discussed again in the last section.