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Master's Dissertation
DOI
10.11606/D.55.2009.tde-30032010-092432
Document
Author
Full name
Jecel Mattos de Assumpção Júnior
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Carlos, 2009
Supervisor
Committee
Marques, Eduardo (President)
Cardoso, João Manuel Paiva
Fernandes, Marcio Merino
Title in Portuguese
Projeto de um sistema de desvio de obstáculos para robôs móveis baseado em computação reconfigurável
Keywords in Portuguese
Computação reconfigurável
Fluxo óptico
Robótica móvel
Visão computacional
Abstract in Portuguese
A área de robótica móvel se encontra numa fase de grande expansão, mas um dos obstáculos a ser vencido é o desenvolvimento de sistemas computacionais embarcados que combinem baixo consumo de energia com alta capacidade de processamento. A computação reconfigurável tem o potencial para atender esta demanda. Este trabalho visa avaliar as dificuldades no aproveitamento desta tecnologia através da implementação em hardware de um sistema de desvio de obstáculos para robôs móveis usando uma única câmera de baixo custo como sensor. Normalmente os algorítmos de fluxo óptico usados neste projeto são implementados inteiramente em software e sofrem várias restrições para poderem operar nos computadores embarcados nos robôs. O projeto descrito neste trabalho não tem estas restrições mas exige um esforço maior de desenvolvimento
Title in English
Design of an obstacle avoidance system for mobile robots based on reconfigurable computing
Keywords in English
Computer vision
Mobile robots
Optical flow
Reconfigurable computing
Abstract in English
The area of mobile robotics is undergoing a tremendous expansion, but one of the obstacles to be dealt with is the development of embedded computational systems that combine low power consumption and high performance. Reconfigurable computing has the potential to meet these requirements. This project is an evaluation of the complexities of fully exploiting this technology through the hardware implementation of an obstacle avoidance system for mobile robots using a single, low cost camera as its sensor. Normally, the optic flow algorithms used in this project are implemented entirely in software and so suffer several limitations in order to run on computers embedded in the robots. The hardware described here does not have the same limitations but requires more development effort
 
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diss_jecel.pdf (8.51 Mbytes)
Publishing Date
2010-03-30
 
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