Mobile robot mapping and path planning using stereoscopic vision | |
| Author | Adikari, Adikari Appuhamillage Darshana Sanjeewan |
| Call Number | AIT Caps. Proj. no.ME-15-51 |
| Subject(s) | Mobile robots Stereoscopic views |
| Note | A capstone project submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-15-51 |
| Abstract | This study was aimed at developing a mobile robot system with the task of unknown environment exploring, mapping and path planning using Stereoscopic Vision as the primary input. Development of the robot’s systems, testing and possible improvements is presented in this thesis. The robot used a vector based approach for mapping, A-Star algorithm for path planning and pure pursuit based trajectory planning strategy. It’s been been concluded that using stereo vision is a reasonable ,method for the task. But additional sensors are needed to compensate for the narrow view angle. |
| Year | 2015 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-15-51 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Mongkol Ekpanyapong;Bohez, Erik L. J.; |
| Degree | Capstone Project (B. Sc.) - Asian Institute of Technology, 2015 |