| Author | Le Viet Hung |
| Call Number | AIT Thesis no. CS-99-11 |
| Subject(s) | Mobile robots
|
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of
Science, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Abstract | This thesis proposes a new method for global path planning by reducing the problem of
finding a continuous free path to searching a graph by analyzing the connectivity of the free
space. The robot's motion is planned by a set of sub-goals generated from the skeleton of the
free space. The new approach makes use of advanced image processing techniques to construct
the graph in a fast and efficient way. In addition, it is simpler than some recently proposed
methods. The combination of the global and local planning increases the performance and
capability of the system. Furthermore, the idea of constructing a map of permanent obstacles is
firstly introduced and discussed.
A method to construct the landmarks and recognize them by image processing techniques are
also discussed. The localization task is carried out based on a set of defined landmarks placed
on the floor so that the robot can recognize them through a monochrome camera. The
landmarks help the robot to determine its location despite possible mechanical error during the
motion. |
| Year | 1999 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Information and Communications Technologies (DICT) |
| Academic Program/FoS | Computer Science (CS) |
| Chairperson(s) | Phan Minh Dung |
| Examination Committee(s) | Huynh Ngoc Phien;Bohez, Erik L. J. |
| Scholarship Donor(s) | Government of Japan |
| Degree | Thesis (M.Sc.) - Asian Institute of Technology, 1999 |