Robot Controller Program for SICK Robot Day 2018 Competition

Mojca Kolšek (2018) Robot Controller Program for SICK Robot Day 2018 Competition. EngD thesis.

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Abstract

Company SICK is hosting a Robotday SICK 2018 competition in October of 2018. The tasks of the competition is to make an autonomous robot with the goal of picking up balls from an autonomous, moving robot and collecting them into a basket. My task was to design and implement a robot controller program (hereafter referred to as "SICKcon") in the way that allows asynchronous development of independent components, such as computer vision, drive controller and mechanic hand design. Unfortunately, some parts were not finished in time and I had to improvise for testing purposes, so a big part is simulated. Evaluation is based completely on simulated environment and the robot was never tested with real components. The goal of enabling asynchronous development was thus partly reached as I was not able to test how my drive controller would react in real world. However, the goal of adaptability was reached better due to hierarchy of goals and implementation with many levels which allows partial changes as needed.

Item Type:

Thesis (EngD thesis)

Keywords:

ROS, robot controller, finite state machine, hierarchical state machines, SICK Robot Day

Number of Pages:

Language of Content:

English

Mentor / Comentors:

Name and Surname	ID	Function
akad. prof. dr. Ivan Bratko	77	Mentor

Link to COBISS:

http://www.cobiss.si/scripts/cobiss?command=search&base=51012&select=(ID=1538033091)

Institution:

University of Ljubljana

Department:

Faculty of Computer and Information Science

Item ID:

4232

Date Deposited:

18 Sep 2018 10:00

Last Modified:

16 Nov 2018 13:58

URI:

http://eprints.fri.uni-lj.si/id/eprint/4232

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