63734 20171221155152.0 TAZ-TFM-2017-292 eng Gonzalez Martinez, Martin Design and prototyping of a shopping trolley able to follow a human and avoid obstacles Diseño y prototipado de un carrito de la compra capaz de seguir a una persona y evitar obstáculos Zaragoza Universidad de Zaragoza 2017 by-nc-sa Creative Commons 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ The aim of this Final Year Project was to design a shopping trolley that is able to navigate autonomously following a human within a 3 feet distance, transport a load up to 20 kg and avoid collisions. Due to the large weight of the load, it has been decided to build a smaller prototype and then choose the components needed to build the real size trolley. One infrared transmitter is attached to the body of the target person and several infrared phototransistors are placed on the robot to calculate the relative position robot-person and the distance between them. A collision avoidance algorithm has been implemented using ultrasonic sensors for detecting the nearest obstacles. An ARM mbed NXP LPC1768 microcontroller coordinates every sensor measure and control calculation. It also controls the power stage designed for driving the motors. Máster Universitario en Ingeniería Industrial Derechos regulados por licencia Creative Commons Meehan, Kathleen dir. Aznar Colino, Eduardo dir. Universidad de Zaragoza Ingeniería Eléctrica Ingeniería Eléctrica Aznar Colino, Eduardo ponente 656831@celes.unizar.es 3027997 http://zaguan.unizar.es/record/63734/files/TAZ-TFM-2017-292.pdf Memoria (eng) oai:zaguan.unizar.es:63734 driver trabajos-fin-master deposita:2017-12-21 TAZ TFM EINA