Complete Coverage Path Planning for a Mobile Robot in an Unknown Indoor Environment
| Autor: | Tan, Choon-Shiang, 陳俊翔 |
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| Rok vydání: | 2011 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 99 Simultaneous localization and mapping (SLAM) is an important research topic in robotics. However, a successful SLAM algorithm will rely on a robot navigation algorithm which explores the environment and determines the next moving direction. The subject of this thesis is to develop such a robot navigation system for obstacle map construction and complete-coverage path planning. In this study, we use the Pioneer-3DX mobile-robot platform and the Microsoft Robotics Developer Studio to control sensors and actuators to accomplish automatic navigation. The main purpose of introducing sensors into the mobile-robot platform is to achieve both collision avoidance and obstacle map construction. The ultrasonic sensors are adopted because of its low cost and high popularity. Although an ultrasonic sonar sensor device is designed to provide distance information, incorrect distance measure can be easily induced by reflection. The incorrect distance measurement usually leads to misestimate of obstacles. Therefore, we proposed inverse sensor filter models which can be used with the Hough transform and inverse sensor models to construct accurate obstacle maps from noisy sonar sensory data. Also, we proposed a heuristic exploration method for accomplishing complete-coverage path planning. Real experiments have been conducted to test the proposed methods and the results show that our methods are promising. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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