Z-ENG: Mobile Robot Navigation in Dynamic Environment

2021-2022 ősz

Hardver (és szoftver firmware)

Téma leírása

Mobile robots and robotic vehicles are becoming more and more widespread in industrial and everyday scenarios as well. These robots have to navigate among obstacles safely while progressing towards their target. While doing this, it is crucial to detect and avoid moving objects. The purpose of this thesis project is to develop algorithms to distinguish static and moving objects in a 2D lidar pointcloud, and to avoid collisions with them.

There is a small-sized mobile robot available, having two driven wheels, a laser rangefinder sensor and a Rasperry Pi based contol unit. The navigation algorithms have to be implemented using the ROS (Robot Operating System) software platform. Testing should be done in a simulator (e.g. Gazebo) first and thereafter optionally on the real robot as well.


  • C/C++ or Python programming knowledge

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