Nirmala, Nirmala and Tanaya, Prianggada Indra and Sinaga, Maralo (2013) Designing a Framework for Analyzing Mobile Robot Behaviour Using V-REP Simulator. Bachelor thesis, Swiss German University.

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Abstract

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). Experiments 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.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Framework; Mobile Robot; Robot Behaviour; Modelling; Simulation
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Astuti Kusumaningrum
Date Deposited:	09 Jan 2022 06:19
Last Modified:	09 Jan 2022 06:19
URI:	http://repository.sgu.ac.id/id/eprint/1292

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