پديد آورنده :
آقابابايي، عليرضا
عنوان :
برنامه‌ريزي همكارانه‌ي حركت با استفاده از سيستم‌هاي چندرباتي
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
ساخت و توليد
محل تحصيل :
اصفهان : دانشگاه صنعتي اصفهان
صفحه شمار :
چهارده، 141ص. : مصور، جدول، نمودار
استاد راهنما :
جمشيد پرويزيان، محمد سيلاني
توصيفگر ها :
صنعت 4.0 , اينترنت اشياء , برنامه‌ريزي حركت , همكاري ربات‌ها , سيستم‌هاي چندرباتي
استاد داور :
محسن صفوي، سعيد بهبهاني
تاريخ ورود اطلاعات :
1400/01/31
رشته تحصيلي :
مهندسي مكانيك
تاريخ ويرايش اطلاعات :
1400/02/01
چكيده انگليسي :
Cooperative Motion Planning Using Multi Robot Systems Alireza Aghababaei March 02 2021 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree Master of Science Language FarsiSupervisors Jamshid Parvizian Assoc Prof Mohammad Silani Assoc Prof AbstractThe main goal of this thesis is to design ROSConnect a cloud based robotics architecture for developingmulti robot systems in smart manufacturing environments This ROS based robotics framework provides thepossibility of creating a connection between robots and the cloud exchanging data between them and offload ing heavy processes The advantages of using cooperative multi robot systems are noticeable to all Each robothas limited intelligence on its own but when they work cooperatively they can solve more complex tasks Moreover Since the robotic algorithms are often complex and need a lot of heavy processes without takingadvantage of cooperative multi robot systems we have to use robots with more powerful processors whichmakes them more expensive Using cloud based technology in multi robot systems eliminates the limitationsof hardware resources for processing and data storage It also makes the robots be able to share their knowledgeand data which increases their capabilities and intelligence and eliminates the need to do repetitive tasks In order to be able to operate in a smart industrial environment robots need to know how to move aroundthe environment without having a collision with obstacles While the robot motion planning process needs toexecute heavy robotic algorithms we have implemented the cooperative robot motion planning using the de veloped cloud based robotics architecture in this thesis ROSConnect We have simulated the process of robotnavigation to evaluate the capabilities of this architecture In addition we have developed ROS based pack ages to implement different kinds of motion planning algorithms including pathfinding and obstacle avoidancealgorithms using the ROSConnect KeywordsIndustry4 0 Internet of Thinge Motion Planning Cooperative Robotics Multi Robot Systems
استاد راهنما :
جمشيد پرويزيان، محمد سيلاني
استاد داور :
محسن صفوي، سعيد بهبهاني
