Landmark-based navigation of a mobile robot | |
| Author | De Silva, Kulappu T.U.H. |
| Call Number | AIT Caps. Proj. no.ME-18-14 |
| Subject(s) | Mobile robots Navigation--Data processing PID controllers |
| Note | A capstone project report 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-18-14 |
| Abstract | Precise navigation is a main function in mobile robots to efficiently execute path following, collision avoidance, etc. A commonly used methodology to obtain this precision is using artificial landmarks for accurate localization. In industries, landmark-based navigation of autonomous robots is being widely used. It greatly improves estimation of the robot position by tracking visual features in the environment, and utilizing them in the form of landmarks. This project utilizes encoder feedback to reach the coordinates that are being assigned to the robot for its navigation. To correct the errors caused by these encoders, a vision system that includes the observation of landmarks is integrated, along with a distance sensor that calculates the distance to the landmark that is being reached. It helps in notifying the system once the robot has reached the landmark accurately. Upon reaching each landmark in the robots path, its current position is updated for robot localization. The feedback from the encoders, vision system and the distance sensor are fed to PID con- trollers to achieve the required objectives in the robot motion. |
| Year | 2018 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-18-14 |
| 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 ;Than Lin; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2018 |