An integrated system for mobile robot navigation using sonar and infrared sensors | |
| Author | Le Chi Tuan |
| Call Number | AIT Thesis no.CS-98-16 |
| Subject(s) | Mobile robots Infrared detectors Sonar |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Science, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Abstract | Many researches have been concentrated on mobile robot navigation since it is both very interesting in theory and also possess potential applications in practice. In order to perform tasks such as message delivery, searching for desired objects, cleaning etc. in an indoor environment, a mobile robot must be able to robustly navigate for a long period of time, without getting lost. This thesis presents a way to build a new three-level autonomous/interactive mobile robot navigation system for an indoor, unknown environment possibly occupied by moving people based on combination of sonar and infrared sensors. A technique which combines methods of several previous works on mobile robot navigation that employ geometric-based approach is presented. Although the system is developed in such a way that the robot can navigate in an unknown region, but additionally the robot can also make use of pre-determined maps for navigation. While the robot navigates through the environment, data from sonar, infrared sensors and from odometers is used to build map using occupancy grid method. Sonar and Infrared sensors are also used· for obstacle avoidance. By combining the data from the sonar, infrared sensors, one ensures that most obstacles can be "seen" by the robot. The autonomous and interactive navigation system with a graphics interface will enable the position of the robot to be determined and specified easily from the map. The robot destinations can be specified by user or automatically chosen by the robot so that paths can be planned and followed. Within a large navigation area, the map can be built and errors of odometry data can be minimized by dividing the navigation area into smaller areas. The maps of those sub-areas will then be combined into a total map for the entire navigation area. The thesis has developed fairly quick algorithms for map building, map updating and path planning. The proposed algorithms for autonomous and interactive exploration combining the strengths and avoid weaknesses of several existing exploration approaches have been developed and can provide a quick, flexible way for the robot navigation. In implementation work of the thesis, we make use of a Nomad 200, an actual indoor mobile robot, currently equipped with a CCD Sony camera, sonar, infrared and some other sensors from Nomadic Technologies, Inc. Experiments are performed at the ISE laboratory, in the ISE building of AIT. |
| Year | 1998 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| 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, Ir. Erik L. J. ;Zhang, Jian Guo |
| Scholarship Donor(s) | His Majesty the King of Thailand; |
| Degree | Thesis (M.Sc.) - Asian Institute of Technology, 1998 |