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Design and implementation of the functional architecture and ROS-based control/logic software for the "Brasidas" UGS

Makris Dimitrios

Πλήρης Εγγραφή

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Περίληψη

This thesis presents work done as part of the "Brasidas" Unmanned Ground System (UGS) project. The project aims to design and manufacture a prototype unmanned autonomous ground vehicle (codenamed "Brasidas") for outdoors operations, capable of both autonomous and remote operation. The platform will be configurable over a wide range of missions and with varying operational payloads selectable by the user. The initial design concept intended for a patrol and observation robot, with capabilities similar to those of the TALON SWORDS vehicle, being in addition able to operate autonomously.Herein will be described the initial analysis and design of the "Brasidas" functional architecture, as well as its evolution over time during the project's development, to the current state it stands at today. The initial design concept will be explained, we will attempt to justify the objectives we were aiming for, and the problems we encountered on the way. The solutions we selected and implemented will also be analyzed and described in detail.

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