Automatic obstacle avoidance and map generation for a mobile robot | |
| Author | Desai, Anup Arun |
| Call Number | AIT Thesis no.ISE-05-29 |
| Subject(s) | Mobile robots Robots--Control systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-05-29 |
| Abstract | Rescue robots have been a subject of extensive research for the last many years. Many new technologies to achieve a range of objectives have been proposed and also been successfully implemented. In this master thesis, an attempt has been made to develop a totally new methodology towards achieving two major objectives in mobile robots in general and rescue robots in specific. The automatic obstacle avoidance and automatic map generation ability of mobile robots have been targeted and dealt with using a completely new method called "laser beam splitting''. It has been successfully proved that this principle can be used to achieve these two objectives. However, the implementation has been restricted due to unavailability of required resources and the time available for completion. However, a definite path has been paved towards these two goals and further improvements are also suggested. The main objective in this master thesis was to reduce the number of sensors used by using simple and inexpensive sensors and it was successfully proved that these sensors are capable to a considerable fair extent in acquiring the required objectives. However, with further improvements, the robot can be made much more intelligent and the time of response can be reduced to make it a "real-time" system in true sense. To put it in a nutshell, what has been done is that the path towards the "sea" has been successfully found through the debris whereas the whole "sea" is yet to be explored. |
| Year | 2005 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-05-29 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V. ;Bohez, Erik. L. J. ; |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship ; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2005 |