Akademik Veri Yönetim Sistemi
Tezin Türü: Yüksek Lisans
Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Makina Mühendisliği Bölümü, Türkiye
Tezin Onay Tarihi: 2014
Öğrenci: SERKAN ÇİÇEK
Danışman: ERHAN İLHAN KONUKSEVEN
Özet:Starting from early 2000’s domestic robots have been taking their place in our daily lives. Today, numerous products are globally available on the domestic robotics market. Among many domestic robot types, robotic cleaners and lawn mowers take the lead in this competition, with their success for reducing undesired house chores. Like in every other product, the price-performance ratio is the most significant evaluation metric for a consumer while buying an autonomous robotic cleaner or an autonomous lawn mower (ALM). The "performance" in this context, mainly denotes the navigation success of the robot. Therefore, it is becoming more and more crucial for developers to offer best navigation performance with the lowest price in the market. In this thesis, ALMs are chosen as the field of study. A minimalist, low-cost navigation approach has been proposed in order to conform customer and market requirements. For this scope, a differentially driven ALM, operating with predefined geometrical coverage patterns has been designed, developed, improved and manufactured. All of these phases are given in detail in this study. The use of the localization methods that demand expensive hardware is avoided. In order to present a low-cost product, dead-reckoning method is used with only wheel encoders. In addition, an enhanced position correction technique especially for ALMs is developed. In this technique, odometric error compensation is applied, based on the identification of mowed and non-mowed lawn areas. The main objective of this technique is to provide an improvement for the coverage performance of the ALM. After completion of the design, manufacturing and system integration tasks, performance tests have also been performed. These physical indoor and outdoor tests have been performed on different terrains with various coverage patterns. These tests revealed both the navigation characteristics of the ALM and the coverage performance improvement of the proposed position correction technique. Test results showed that the proposed position correction technique achieved a significant improvement over sole odometry for outdoor coverage. It is concluded that the proposed technique can be an alternative compared to relatively expensive outdoor navigation methods.