Mustafa Özçelikörs

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ATEKS (Intelligent Wheelchair) Indoor Navigation

About Project

The ATEKS (Intelligent Wheelchair) is a fully equipped autonomous robot. This robot is ROS compatible and is simulated using Gazebo Simulator. In this work, a robotic perception and behavior algorithm are developed using the Xbox 360 Kinect sensor on ATEKS. The grid and sector mapping is used and "move to goal" (a metastate of "move in room"), "doorway passing", "follow corridor", and "draw near an object" behaviors are developed and are controled using a finite state machine (FSM).

This project is supported by İnovasyon Mühendislik and ATEKS project is supported by TÜBİTAK.

Scenerio 1

Scenerio 2

Scenerio 1

In Scenerio 1, robot performs "Move In Room" between nodes 1 and 2, "Doorway Passing" between nodes 2 and 3, "Follow Corridor" between nodes 3 and 4, "Doorway Passing" between nodes 4 and 5, and "Move In Room" between nodes 5 and 6 in order to complete its goal.

Scenerio 2

In Scenerio 2, robot performs "Move In Room" between nodes 7 and 8, "Doorway Passing" between nodes 8 and 9, "Follow Corridor" between nodes 9 and 10, "Doorway Passing" between nodes 10 and 11, "Move In Room" between nodes 11 and 12, and "Draw Near Object" between nodes 12 and 13 in order to complete its goal.
The robot moves in a different path and at the end it draws near an object. In this behavior, which is a meta-state of "Move In Room" state, the robot moves through an arc shape and checks the robots w orientation within a small error rate in order to be parallel to the object.

 


Designed by mozcelikors