| Author | Pokharel, Sumita |
| Call Number | AIT Thesis no.CS-97-28 |
| Subject(s) | Mobile robots
|
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of
Science |
| Publisher | Asian Institute of Technology |
| Abstract | Mobile robotics is being used in many sphere of life and it is gaining popularity
among researchers as well as people who use it for applications. This study has been
conducted for the mobile robot Nomad200. A thorough study of the different available
sensors like the sonar, the infrared, the tactile, and vision as well as the overall integration
of the system has been performed. Several experiments have been conducted that have
been tested mostly on the simulated environment (while comparing the results of two
similar algorithms), but mostly the algorithms have been tested on the real robot as well.
Experiments with the real robot showed that the error is much greater due to the
mechanical reasons (eg. slippage of the wheels) than in the simulated environment.
After implementing the obstacle avoidance algorithm using the sonar and the infrared
separately and then combining both, an overall result has been deduced. The
implementation of vision includes edge detection algorithm, the size determination of the
can using random experimental methods, and the tracking of the can. Several experiments
had been conducted to determine the ratio of the difference of the size of the can to the
distance.
A thorough study of the arms with respect to programming has also been made. |
| Year | 1997 |
| 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;Afzulpurkar, Nitin; |
| Scholarship Donor(s) | Norwegian Agency for Development and
Corporation (NORAD) ;Asian Institute of Technology Alumni Association Research Grant; |
| Degree | Thesis (M.Sc.) - Asian Institute of Technology, 1997 |