The subject of this thesis is an application of autonomous robotics: the branch of robotics that deals with the study and design of solutions able to fulfil tasks without the need for human intervention. In particular, by extending the functionalities of a motorized wheelchair, we designed and implemented PMK(Personal Mobility Kit): a robotic wheelchair, intended for people with motor disabilities. We have also implemented a software system to manage the PMK cooperating with the services offered by the server of the ALMA (Ageing without Losing Mobility and Autonomy) Project. Both PMK and ALMA server are part of an international research project born within the AAL JP (Ambient Assisted Living Joint Programme) which aims to support the mobility and orientation in autonomy of disabled people through a system, hardware and software, integrated and modular. The purpose of this thesis is twofold: (i) creating an application for Android devices, called PMKdroid, able to interface with the PMK and the ALMA server and to integrate information originating from them, to provide the user with the necessary tools to be able to orient and move autonomously in indoor environments; (ii) design and implement a PMK implementation with autonomous driving capabilities. The autonomous drive allows the PMK to move independently towards a PMKdroid specified destination in a known environment by planning and following a suitable path. The PMKdroid has shown during the tests carried out to be able to provide the user with all the tools necessary for orientation and autonomous movement in indoor environments using the PMK. It is also providing a proper interface between the ALMA server and the PMK. Moreover, during the carried out tests, the PMK itself has proven to be able to obtain good localization performance in Stand Alone mode, as well as autonomous navigation, by selecting and following the most suitable path to a user supplied destination.
La presente tesi riguarda la robotica autonoma, un ramo della robotica che si occupa dello studio e della progettazione di veicoli in grado di eseguire compiti senza bisogno dell’intervento umano. Nello specifico, abbiamo sviluppato una carrozzina robotica, chiamata PMK (Personal Mobility Kit), come ausilio ai disabili motori, estendendo le funzionalità di una carrozzina motorizzata, e abbiamo realizzato un sistema software per la gestione del PMK, in relazione ai servizi offerti dal server del Progetto ALMA (Ageing without Losing Mobility and Autonomy). Sia il PMK sia il server ALMA sono parte del progetto ALMA, un progetto internazionale di ricerca nato all’interno del AAL JP (Ambient Assisted Living Joint Programme), che ha come obiettivo il supporto alla mobilit`a e all’orientamento in autonomia delle persone con mobilità ridotta attraverso un sistema, hardware e software, integrato e modulare. Lo scopo della presente tesi `e stato duplice: (i) creare un’applicazione per dispositivi Android, denominata PMKdroid, in grado di interfacciarsi con il PMK e il server ALMA, e integrare le informazioni da essi provenienti, per fornire all’utente gli strumenti necessari per potersi orientare e spostare autonomamente in ambienti indoor; (ii) progettare e realizzare un implementazione di PMK con funzionalit`a di guida autonoma. La guida autonoma permette al PMK di spostarsi autonomamente verso una destinazione specificata attraverso il PMKdroid in un ambiente noto, pianificando e seguendo un percorso idoneo. Il PMKdroid ha mostrato, durante le prove eseguite, di poter fornire all’utente tutti gli strumenti necessari per potersi orientare e spostare autonomamente in ambienti indoor sfruttando il PMK. Ha inoltre dimostrato di poter garantire un corretto interfacciamento tra server ALMA e il PMK. Infine il PMK ha dato prova, durante gli esperimenti svolti, di poter ottenere buone performance di localizzazione in modalità Stand Alone, nonché di essere in grado di navigare autonomamente, scegliendo e seguendo il percorso più idoneo verso un obiettivo specificato dall’utente.
Progetto e realizzazione di un sistema per il supporto alla navigazione autonoma di carrozzine motorizzate
GRAZIANO, LORENZO
2015/2016
Abstract
The subject of this thesis is an application of autonomous robotics: the branch of robotics that deals with the study and design of solutions able to fulfil tasks without the need for human intervention. In particular, by extending the functionalities of a motorized wheelchair, we designed and implemented PMK(Personal Mobility Kit): a robotic wheelchair, intended for people with motor disabilities. We have also implemented a software system to manage the PMK cooperating with the services offered by the server of the ALMA (Ageing without Losing Mobility and Autonomy) Project. Both PMK and ALMA server are part of an international research project born within the AAL JP (Ambient Assisted Living Joint Programme) which aims to support the mobility and orientation in autonomy of disabled people through a system, hardware and software, integrated and modular. The purpose of this thesis is twofold: (i) creating an application for Android devices, called PMKdroid, able to interface with the PMK and the ALMA server and to integrate information originating from them, to provide the user with the necessary tools to be able to orient and move autonomously in indoor environments; (ii) design and implement a PMK implementation with autonomous driving capabilities. The autonomous drive allows the PMK to move independently towards a PMKdroid specified destination in a known environment by planning and following a suitable path. The PMKdroid has shown during the tests carried out to be able to provide the user with all the tools necessary for orientation and autonomous movement in indoor environments using the PMK. It is also providing a proper interface between the ALMA server and the PMK. Moreover, during the carried out tests, the PMK itself has proven to be able to obtain good localization performance in Stand Alone mode, as well as autonomous navigation, by selecting and following the most suitable path to a user supplied destination.| File | Dimensione | Formato | |
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https://hdl.handle.net/10589/119264