Department of Mechatronics Engineering
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Browsing Department of Mechatronics Engineering by Author "ERDEN, Abdülkadir"
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Item SYSTEM DESIGN AND PROTOTYPE DEVELOPMENT OF A GUIDE – GUARD ROBOT FOR THE DEPARTMENT OF MECHATRONICS ENGINEERING LABORATORIES(2015-10-25) SADEGHİ, Amir Nobahar; ERDEN, Abdülkadir; ERDEN, ZuhalThe goal of this thesis is designing, constructing and manufacturing an autonomous, intelligent, mobile guide - guard robot and enable it to safe navigate through the indoor environments such as the laboratories of the department of Mechatronics Engineering in Atilim University. Based on the main concern of the thesis, an integrated system was designed and implemented. To accomplish the navigation task, our presented control architecture composes of localization, obstacle avoidance, path planning and robot control for steering the robot from any initial pose to arbitrary asigned pose. Our navigation architecture is a behavior-based and a mapless navigation, which the robot‟s locations are determined by observing and extracting useful features in the environment based on the onboard sensors.