Mobile robot navigation and obstacle avoidance in unstructured outdoor environments
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Authors
Hargadine, Calvin S.
Subjects
obstacle avoidance
navigation
robot
ROS
outdoor
unstructured
LIDAR
laser
GPS
MATLAB
ground vehicle
autonomous
navigation
robot
ROS
outdoor
unstructured
LIDAR
laser
GPS
MATLAB
ground vehicle
autonomous
Advisors
Yun, Xiaoping
Calusdian, James
Date of Issue
2017-12
Date
Dec-17
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
The ability to detect, characterize, and avoid obstacles is a critical requirement for autonomous robotic systems, especially in dynamic environments. While autonomous vehicle research and development continues at a rapid pace, these systems are becoming more complex and expensive. The objective of this thesis was to determine the feasibility of utilizing a single two-dimensional laser scanning rangefinder for robust obstacle avoidance in unstructured outdoor environments. Specifically, sensing and control algorithms were developed for an autonomous ground vehicle (AGV). The system was designed to operate in varying outdoor environments while avoiding both static and dynamic obstacles. The AGV was able to effectively identify and avoid obstacles within its field of view and to navigate to specific coordinates across variable terrain. While this solution was limited by the sensor used and was not effective in all environments--such as when obstacles encountered were too short to enter the scanner's plane of view--the algorithm developed was successful for visible objects. Small improvements, such as using a gimballed scanner or one that scans in three dimensions, would make this solution more robust for a wider range of environments.
Type
Thesis
Description
Series/Report No
Department
Electrical and Computer Engineering (ECE)
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
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.