پديد آورنده :
بركتين، عليرضا
عنوان :
نقشه برداري همكارانه با استفاده از سيستم هاي چندرباتي و محيط ابري
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
ساخت و توليد
محل تحصيل :
اصفهان : دانشگاه صنعتي اصفهان
صفحه شمار :
سيزده، 125ص. : مصور (رنگي)، جدول، نمودار
استاد راهنما :
جمشيد پرويزيان
توصيفگر ها :
رباتيك ابري , توليد ابري , صنعت 4.0 , اينترنت اشياء , نقشه‌برداري همكارانه
استاد داور :
محسن صفوي، محمد دانش
تاريخ ورود اطلاعات :
1399/07/27
رشته تحصيلي :
مهندسي مكانيك
تاريخ ويرايش اطلاعات :
1399/07/28
چكيده انگليسي :
Cooperative Mapping Using Multi robot Systems And Cloud Environment Alireza Barekatain a barekatain@me iut ac ir October 10 2020 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree Master of Science Language FarsiSupervisor Jamshid Parvizian Assoc Prof japa@cc iut ac ir AbstractThe aim of this thesis is to design a Cloud Robotics architecture for multi robot systems in a manufacturingenvironment and to develop Rosconnect a ROS based Cloud Robotics framework that enables multiple robotsto offload computationally intensive tasks and share knowledge through a cloud server While the increasingcomplexity of robotic algorithms demands more powerful onboard processors using a Cloud Robotics frameworkcan make it possible to have cost efficient and light weight robots by computation offloading Also a singlerobot still lacks intelligence because it only has access to the knowledge it has acquired during its operation time As the emerging robotic tasks require the cooperation of robots developing a mechanism for data exchange andknowledge sharing is vital Moreover a Cloud Robotics framework enables the user to manage all the connectedrobots via a cloud server which yields benefits such as faster deployment of a robotic team for a productiontask and online management of robots in the production line Regarding the fact that the task of mapping anenvironment is the most fundamental task for an autonomous mobile robot AMR and warehouse automationrelies on multiple AMRs we have chosen to implement a cooperative mapping algorithm using the proposedframework We have simulated the cooperative mapping task using multiple AMRs and utilized our frameworkfor knowledge sharing and computation offloading to build a map of the environment The resulting global mapdemonstrates the capabilities of our architecture and framework KeywordsCloud Robotics Cloud Manufacturing Industry 4 0 Internet of Things Cooperative Mapping
استاد راهنما :
جمشيد پرويزيان
استاد داور :
محسن صفوي، محمد دانش
