Bevegelsesplanlegging og regulering av mobile robotmanipulatorer
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Mobile robot manipulators will be prevalent in addressing many future needs such as contributing to the caring for an aging population, as well as monitoring environmental pollution and removing contamination. However, a significant advancement on methods for control and navigation of mobile robot manipulators is needed in order to fulfil this vision.Realistic computer simulation environments are crucial in order to be able to develop and test new methodologies for mobile robot manipulators. Such simulation environments need to incorportate realisitic sensor input and robot motion capabilities, together with an integrated visualization environment, and this will be the topic of this thesis.