A sweeping algorithm development and implementation on a mobile robot using a neural network | |
| Author | Prasert Sutiposuwan |
| Call Number | AIT Thesis no.ISE-99-48 |
| Subject(s) | Mobile robots Neural networks (Computer science) |
| Note | A thesis submitted in the partial fulfillment of the requirements for the degree of Master of Science, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-99-48 |
| Abstract | This research presents an idea to perform a sweeping algorithm by using the mobile robot. This algorithm can be applied in many applications such as autonomous vacuum cleaner. The machine should have the compass system or other device that can sense the position accurately. The backpropagation neural network model was designed to assist offline computation. The neural network model gets the simple data in two dimensional array of coordinate x-y. The working software computes the position that aligns the subgoal of the robot to the borders. Several experiments have been conducted and tested to determine the distance of the position of the subgoal to the border. The domain knowledge is grained from study of both hardware and software of Nomad 200 robot and we apply the model of neural network to compute the position of the machine. In this experiment we didn't use any dedicated sensors to sense the environment so the in the future work this algorithm will need to run with the combination of sensors including vision system to improve the robot sense of its current position. |
| Year | 1999 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-99-48 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Afzulpurkar, Nitin; |
| Examination Committee(s) | Manukid Parnichkun;Phan Minh Dung; |
| Scholarship Donor(s) | Asian Institute of Technology Partial Scholarship; |
| Degree | Thesis (M.Sc.) - Asian Institute of Technology |