Secure indoor navigation and operation of mobile robots

Mazen Ghandour

doi:10.18453/rosdok_id00001896

Mazen Ghandour

Secure indoor navigation and operation of mobile robots

Universität Rostock, 2017

https://doi.org/10.18453/rosdok_id00001896

Abstract: In future work environments, robots will navigate and work side by side to humans. This raises big challenges related to the safety of these robots. In this Dissertation, three tasks have been realized: 1) implementing a localization and navigation system based on StarGazer sensor and Kalman filter; 2) realizing a human-robot interaction system using Kinect sensor and BPNN and SVM models to define the gestures and 3) a new collision avoidance system is realized. The system works on generating the collision-free paths based on the interaction between the human and the robot.

doctoral thesis free access

title:

Secure indoor navigation and operation of mobile robots

contributing persons:

Mazen Ghandour[VerfasserIn]
	1132069505
Kerstin Thurow , Prof. Dr.-Ing. habil.[AkademischeR BetreuerIn]
	121586480
	Universität Rostock, Institut für Automatisierungstechnik
Norbert Stoll , Prof. Dr.-Ing.[AkademischeR BetreuerIn]
	133123405
	Universität Rostock, Institut für Automatisierungstechnik
Yue Yang , Prof. Dr.[AkademischeR BetreuerIn]
	Central South University, China., School of Traffic & Transportation Engineering.

contributing corporate bodies:

Universität Rostock, Fakultät für Informatik und Elektrotechnik[Grad-verleihende Institution]
	10085032-7

abstract:

In future work environments, robots will navigate and work side by side to humans. This raises big challenges related to the safety of these robots. In this Dissertation, three tasks have been realized: 1) implementing a localization and navigation system based on StarGazer sensor and Kalman filter; 2) realizing a human-robot interaction system using Kinect sensor and BPNN and SVM models to define the gestures and 3) a new collision avoidance system is realized. The system works on generating the collision-free paths based on the interaction between the human and the robot. [English]

In zukünftigen Arbeitsumgebungen werden Roboter navigieren nebeneinander an Menschen. Das wirft Herausforderungen im Zusammenhang mit der Sicherheit dieser Roboter auf. In dieser Dissertation drei Aufgaben realisiert: 1. Implementierung eines Lokalisierungs und Navigationssystem basierend auf Kalman Filter: 2. Realisierung eines Mensch-Roboter-Interaktionssystem mit Kinect und AI zur Definition der Gesten und 3. ein neues Kollisionsvermeidungssystem wird realisiert. Das System arbeitet an der Erzeugung der kollisionsfreien Pfade, die auf der Wechselwirkung zwischen dem Menschen und dem Roboter basieren. [German]

document type:

doctoral thesis

institution:

Faculty for Informatics and Electrical Engineering

language:

English

subject class (DDC):

000 Generalities, Science

publication /
production:

Rostock: Universität Rostock

2017

identifiers: