Diploma Thesis
"Autonomous Navigation and Control of a Mobile Robot in a Cell Culture Laboratory"by Axel Schneider and Daniel Westhoff
This diploma thesis addresses three important topics in mobile robotics. These are the self-localisation, the path planning and the control of a wheeled mobile robot. Compared to the software provided by the manufacturer, improvements have been achieved in position accuracy. In order to achieve that goal, a precise self-localisation mechanism has been developed. This mechanism together with a path planning algorithm is the basis for the robot's capability of following a certain route through its environment. The results obtained by this procedure provide an adequate basis for the robot to successfully perform the transport task which it was expected to carry out in the cell culture laboratory of the University of Bielefeld.
Bielefeld, Germany, June 2002
Downloads
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diploma_thesis.ps.gz | (8.3 MB) |
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diploma_thesis.pdf | (2.8 MB) |
Videos
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video1.avi | (60.7 MB) |
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video2.mpg | (46.5 MB) |
Further Work
The diploma thesis was part of a project with the aim of automating a sample management process in a biotechnological laboratory at the University of Bielefeld. An overview of the project and its final results are presented in the Ph.D. thesis of Dr. Torsten Scherer.
