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IK4 Doctorados

 

TEKNIKER

People whose vocation are focused on enhancing the innovative capabilities of their customers and furthering their technological capital.

 
DOCTORATES

TEKNIKER

Contributions to robust autonomous navigation for mobile robots using artificial vision techniques

TEKNIKER

START: 10/2017

OPEN

OBTAINING DOCTOR DEGREE: 09/2020

Description

Accurate and consistent localisation is a central problem in many areas of mobile robotics, both in research and in industrial applications. The localisation process calculates the robot’s position on a map of the environment, based on the sensory information received from it. This information is essential for navigation tasks such as planning trajectories and avoiding obstacles. It is particularly interesting in the case of autonomous vehicles, which have to carry out their tasks without human intervention. 

Localisation is sometimes resolved by using external structures, such as beacons placed in fixed, known places, or by using a Global Positioning System (GPS). However, the former requires modifications in the environment, whilst the latter is not available in indoor environments. In these situations, the location must be resolved internally by the robot itself, using its own set of sensors. For many years, ultrasound and lasers have been the most commonly used sensors for this purpose. 

The most recent studies and articles reflect a clear trend in the use of vision as a perception system for solving the problem of localisation and improving the autonomous navigation of mobile robots. The main reason for this trend is due to the ability of a camera-based system to obtain range information and to capture the appearance, colour and texture of the environment, giving the robot the possibility of integrating other, more high-level tasks such as detecting and recognising people and places. Moreover, cameras are more affordable sensors and are lighter and consume less energy. 

The aim of this thesis is to promote the inclusion of artificial vision as a way to improve the autonomous navigation system in the mobile robots at TEKNIKER-IK4. 

The study will focus on strategies for combining vision with existing perception systems, looking for a hybrid solution to improve the accuracy and consistency of the current autonomous navigation system.

Department or unit of the Associates Technology Center

Intelligent Autonomous Systems Unit

Investigation line

Localisation and trajectory planning

Start date planned

10/2017

Obtaining date of the doctor degree

09/2020

Requeriments

- Masters level required (completed before starting the Ph.D. programme), research vocation, and English.
- Particularly welcome is a University Master"s Degree in Computational Engineering and Intelligent Systems of the EHU-UPV, but other studies will also be considered.
- Knowledge in object-oriented programming, skills in programming languages C++, Python and Java, and the Robot Operating System (ROS) framework, the GAZEBO simulator and OpenCV and PCL libraries will be valued highly.
- Initiative and the ability to solve problems are essential.

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