Designing a framework for analyzing mobile robot behaviour using v-rep simulator
The purpose of this thesis work is to design a framework for analyzing mobile robot behaviour. The framework developed uses V-REP simulation software to observe the behaviour of the robots. The framework discusses behaviour such as postural, walking, explorational, human-following and aversive behaviour. Virtual models are created on bipedal robots, transporter robot and Autonomous Guided Vehicle (AGV).rnExperiments are conducted on those robots by adjusting their dynamic properties and/or surrounding environment. Validation is carried out by comparing the result of simulation and the real robots execution. The system configuration, task and environment of the robot are the main factors affecting its behaviour. The simulation gives a more idealistic behaviour execution rather than realistic. Adjustments can be made to the simulation parameters to provide more realistic performance. This thesis also proposes the use of simulation for learning the robot behaviour prior to developing the real system.
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