| Titre : | Design and Realization of a Smart Delivery Robot |
| Auteurs : | Mahdi KAHOUL, Auteur ; Samir Tigane, Directeur de thèse ; Laïd Kahloul, Directeur de thèse |
| Editeur : | Biskra [Algérie] : Faculté des Sciences Exactes et des Sciences de la Nature et de la Vie, Université Mohamed Khider, 2024 |
| Format : | 1vol.(60p.) / ill.couv.ill.encoul / 30cm |
| Langues: | Anglais |
| Langues originales: | Anglais |
| Mots-clés: | Delivery operations, Mobile robotics, Cooperative multi-robot system, Buchi automata, CTL logic, Model-checking, UPPAAL tool. |
| Résumé : |
A mobile robot is an autonomous or semi-autonomous machine capable of moving and navigating through an environment. It can perform various tasks, such as transportation, inspection, and exploration. This work describes the specification and realization of a mobile robot designed for delivery services. With the growing need for effective logistics solutions in regions like Algeria, where technological advancements are crucial for development across various sectors, the use of mobile robots shows great potential in improving delivery operations. Leveraging advancements in robotics, this work outlines a comprehensive approach to developing mobile robots capable of navigating diverse environments to facilitate delivery tasks. The proposed solution also addresses the unique challenges facing delivery services, such as seamless communication and coordination between multiple robots. In this work, a prototype of a mobile robot for delivery service is provided for testing the proposed cooperative multi-robot system (CMRS) at the University of Biskra in Algeria as a case study. Afterward, a formal model for the proposed system is prepared based on the Büchi automaton. Thanks to the UPPAAL model-checker, the behavior of the proposed CMRS is verified in terms of two criteria: the system’s safety and the system’s liveness which are formulated as a set of computational tree logic (CTL) properties. The UPPAAL model-checker tool results show that the proposed CMRS represents a safe and robust delivery mobile system. |
| Sommaire : |
Abstract . . . . Contents List of Figures List of Tables 0General Introduction 1 Technical Background 1.1 Introduction . . . . . . . . . . 1.2 Robotics . . . . . . . .. . 1.2.1 The three laws of robotics . . . . . 1.2.2 Application areas of robotics . . . . . .. . . . 1.2.3 Types of robots . . . . . . . . . 1.3 Autonomous Mobile Robots . . . . . . . . 1.3.1 Types of mobile robots . . . . . . . . . . 1.3.2 Core principles of mobile robots . . . . . . . . . . . 1.3.3 Advantages of mobile robots . . . . . . .. . . . 1.3.4 Challenges of mobile robots . . . .. . . . . . 1.4 Multi-Robots System . . . . . . . . . . . . . 1.4.1 Characteristics of multi-robots systems . . . . . . . . 1.4.2 Applications of multi-robots systems . . . . . . . 1.4.3 Technologies of multi-robots systems . . . . . . . . . 1.4.4 Advantages of multi-robots systems 19 1.5 Conclusion 19 2Design and Realization of a Delivery Mobile Robot 21 2.1 Introduction 21 2.2 The 3D-modeling 21 2.2.1 Robot parts 21 2.2.2 Robot design 22 2.3 Materials and Tools 22 2.3.1 Hardware 23 2.3.2 Software 26 2.4 System Design 27 2.4.1 Control system 28 2.4.2 Motion system 29 2.4.3 Localization system 29 2.4.4 Communication system 29 2.4.5 Perception system 29 2.5 Autonomous Navigation Approaches 29 2.5.1 GPS based navigation 30 2.5.2 Follow line based navigation 33 2.6 Experimental Results 37 2.7 Conclusion 40 3 Modeling and Verification of a Delivery Multi-robots System 41 3.1 Introduction 41 3.2 Formal Modeling and Verification in UPPAAL-Tool 41 3.2.1 Automata in UPPAAL-tool 42 3.2.2 CTL and Model-Checking in UPPAAL-tool 43 3.3 Formal Modeling and Verification of the System 44 3.3.1 Modeling of the System using Automata 45 3.3.2 Model-checking and Evaluation 47 3.4 Discussion and Conclusion 49 Conclusion et Perspectives 50 References 53 |
| Type de document : | Mémoire master |
Disponibilité (1)
| Cote | Support | Localisation | Statut |
|---|---|---|---|
| MINF/906 | Mémoire master | bibliothèque sciences exactes | Consultable |
