Development of an Autonomous Mobile Robot

Abstract

Although the robotics community did a lot of research in the field of autonomous mobile robotics, there are still many unsolved challenges. With this dynamic, the European Robotics Challenges (EUROC) aim at enhancing mobile robotics research by building concrete projects with industrial applications. During my final year internship for the Télécom Physique Strasbourg’s Engineering Degree which has taken place in the Robotics and Mechatronics Institute at the DLR Oberpfaffenhofen (Germany), I had the opportunity to actively participate to the making of one of those challenges. In fact, the EUROC DLR team in currently developing, in association with KUKA, the autonomous mobile robot “Miiwa” which will be a work support for in lab and on field experiments for the challengers. My teammates and I goal during this internship was to implement, to test and to validate a scenario using all the parts of the robot in order to be able to assist the challenger teams during the current EUROC stage. I was in charge of the “environment modeling” topic and I have actively participated to the system’s state machine development. This report constitutes a detailed overview of my work from simulation to real system integration as well as its situation in the DLR’s involvement in the EUROC.