Apparatus and Software Means for Processing Sensor Information during Investment of Medium through a Mobile Robot Class (hardware and Software Devices for Processing of Sensor Information Obtained via Environmental Exploration by Class Mobile Robots)

Introduction The dissertation work is focused on devices, methods, and algorithms for gathering, analysis, and processing of sensor information in mobile robotics. Recently, this field has gained in importance, since mobile robots expose increasing variety of applications. Despite the achieved results in the field, there are still some unsolved problems: 1/ The price of some range-finders, such as the price of laser range-finders, is very high. This circumstance, together with their inherent drawbacks, limits their usage; 2/ The existing devices, methods, and algorithms for processing the data obtained from environment by widely used ultrasonic range-finders, are not effective enough for high-quality map building; 3/ The existing methods for measurement and correction of systematic odometry errors in mobile robots are not convenient for realization, or they do not work properly in some applications; 4/ The existing methods and algorithms for mobile robot localization undergo some restrictions. This circumstance precludes its applying in mobile robotics. Purpose and tasks of the dissertation The main objective of the dissertation is to develop devices, modules, and algorithms for improving the quality of the metrical information obtained via environmental exploration by mobile robots with differential driving. This research emphasizes the case when there are limitations in the price of the equipment for sensor subsystem. For the realization of this purpose, the following tasks have to be solved: 1) Based on the existing commercial ultrasonic ranging systems, a scanning ultrasonic range-finder has to be developed. It has to satisfy the requirements for gathering metrical information from the environment by mobile robot. The developed scanning ultrasonic range-finder has to ensure the correct reading of the information by the robot's microprocessor system. Limitations in the price of the used equipment have to be considered. 2) An effective and convenient for realization method for measurement and correction of odometry errors in differential driving mobile robots has to be developed. 3) A reliable and convenient for implementation algorithm for mutual localization of the cooperative mobile robots has to be developed. The algorithm has to ensure estimating of both position and orientation of each mobile robot in the environment. 4) A method for processing of information obtaining from environmental exploration via scanning ultrasonic range-finder of an autonomous mobile robot has to be developed. The method has to guarantee more complete and precise environmental map than well-known methods. Structure and volume of the dissertation The dissertation, written in Bulgarian, is exposed on 184 …