A mobile robot sonar system with obstacle avoidance
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Authors
Byrne, Patrick Gerard
Subjects
NA
Advisors
Kanayama, Yutaka
Date of Issue
1994-03
Date
March, 1994
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
The major problem addressed by this research is how to allow an autonomous vehicle to dynamically recognize changes in its environment, to map its environment, and alter its path to avoid obstacles while still reaching its goal point. The approach taken was to modify existing sonar functions in previous work, to better utilize sonars, and to perform many experiments to determine what data to expect from sonars while the vehicle is in motion. By applying the linear square fitting algorithm, the robot has the ability to map the objects within sensor range of an autonomous vehicle. The results are that, given an initial and goal point, the robot can proceed on a directed path, utilize its sonar sensor(s) used to detect obstacles, and when an obstacle is detected have the capability to dynamically compute a parallel path and smoothly alter its motion to the parallel path. The robot now has the capability to track the obstacle, and, once clear of the obstacle smoothly alter its motion to a path that will reach its goal point. The ability for the robot to combine smooth motion with obstacle avoidance has now been successfully programmed. Autonomous vehicle, Robot, Obstacle avoidance, Sonar sensing.
Type
Thesis
Description
Series/Report No
Department
Computer Science
Organization
NA
Identifiers
NPS Report Number
Sponsors
Funder
NA
Format
95 p.;28 cm.
Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.