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Discussions and Conclusion

This chapter discusses conclusions and further extensions from a thesis on a mobile robot system. It describes advantages like it being a low-cost, smart system that can help people and be used in various places. Disadvantages include difficulty working in direct sunlight and needing a capable computer. The resulting system performs its mapping mission well and provides a platform to learn robotics concepts. Further work could include modifying the system for other platforms and sensors to improve stability and speed.

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71 views2 pages

Discussions and Conclusion

This chapter discusses conclusions and further extensions from a thesis on a mobile robot system. It describes advantages like it being a low-cost, smart system that can help people and be used in various places. Disadvantages include difficulty working in direct sunlight and needing a capable computer. The resulting system performs its mapping mission well and provides a platform to learn robotics concepts. Further work could include modifying the system for other platforms and sensors to improve stability and speed.

Uploaded by

Moni
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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CHAPTER 6

DISCUSSIONS AND CONCLUSION

This is the last chapter of this thesis. This chapter describes discussions and
conclusion for the thesis. Advantages and disadvantages of the proposed system are
also described in this chapter. Moreover, further extension is also described.

6.1 Discussion of Mobile Robot System


To get the best possible estimate of the position the sensor data has to be
fused. One of the effective approaches in the sensor fusion is Extended Kalman Filter
(EKF) technique which is an extended version of Kalman-filter. In ROS this is easily
achieved using the package robot_pose_ekf. In this current work robot_pose_ekf is
used to combine yaw data coming from the yaw rate sensor and the calculated yaw
from odometry to obtain best estimate of the yaw data. With this fusion, it is observed
that the maps generated are of better quality compared to the one’s using unfused
data.
The 2D maps of the office floor are generated by manually guiding the mobile
robot by controlling using keyboard; around the area to be mapped. Maps are created
using SLAM approach with a resolution of 0.05m covering 100m x 100m area. Below
are maps which are created using manual mapping process indicating its starting
position and the actual path through which the robot traversed.

6.2 Advantages and Disadvantages of the Proposed System


Advantages and disadvantages of the proposed system are as follows.
Advantages are
(1) It is a smart and modernized Robot system.
(2) It helps people for more easy life.
(3) It is a low-cost system.
(4) It can be used in many places like venues, smart rooms, smart cars, and
recreation centers.
43

Disadvantages are
(1) Lider cannot work in direct sun light, suitable for indoor process.
(2) Good Computer to get good performance.
(3) A little Complex for beginner

6.3 Conclusion of the Proposed System


Since the materials used in this project have very low cost, researchers and
teachers could use it as base to undertake new projects that do not involve
astronomical money investment. It is too, a new opportunity for spreading home
robotics and making it accessible and affordable for every one with a bit of curiosity.
The resulting system is quality enough to perform its mission. It is also a very
good mechanism to learn from the beginning to design, assemble and program a
mobile robot; use and gather data from the sensors. Once the robot is working, it is to
be used didactically. It would be proved how hard is building a 2-dimensional
reconstruction from an environment, the problem of auto-location and other
difficulties due to robotics itself.
Moreover, this project will help diving into professional robotics using such a
specific tool as ROS. It will improve creativity and innovation capacity. Currently, it
is being performed an expansion in software using a path planning algorithm; in this
way, the robot will navigate intelligently by the scanned environment.

6.4 Further Extensions of the Proposed System


There are some possible futures works are also in this system. It can be
modified to Ubuntu Core systems and use in the Raspberry Pi. Use different motor for
more load, use IMU sensor for more stable robot and move more quickly.

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