Mobile robot navigation and obstacle avoidance in unstructured outdoor environments

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dc.contributor.advisorYun, Xiaoping
dc.contributor.advisorCalusdian, James
dc.contributor.authorHargadine, Calvin S.
dc.contributor.departmentElectrical and Computer Engineering (ECE)
dc.dateDec-17
dc.date.accessioned2018-02-07T20:37:38Z
dc.date.available2018-02-07T20:37:38Z
dc.date.issued2017-12
dc.description.abstractThe 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.en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.
dc.description.recognitionOutstanding Thesis
dc.description.serviceLieutenant, United States Navyen_US
dc.description.urihttp://archive.org/details/mobilerobotnavig1094556937
dc.identifier.urihttps://hdl.handle.net/10945/56937
dc.publisherMonterey, CA; Naval Postgraduate School
dc.relation.ispartofseriesNPS Outstanding Theses and Dissertations
dc.rightsThis 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.en_US
dc.subject.authorobstacle avoidanceen_US
dc.subject.authornavigationen_US
dc.subject.authorroboten_US
dc.subject.authorROSen_US
dc.subject.authoroutdooren_US
dc.subject.authorunstructureden_US
dc.subject.authorLIDARen_US
dc.subject.authorlaseren_US
dc.subject.authorGPSen_US
dc.subject.authorMATLABen_US
dc.subject.authorground vehicleen_US
dc.subject.authorautonomousen_US
dc.titleMobile robot navigation and obstacle avoidance in unstructured outdoor environmentsen_US
dc.typeThesisen_US
dspace.entity.typePublication
etd.thesisdegree.disciplineElectrical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.nameMaster of Science in Electrical Engineeringen_US
relation.isSeriesOfPublicationc5e66392-520c-4aaf-9b4f-370ce82b601f
relation.isSeriesOfPublication.latestForDiscoveryc5e66392-520c-4aaf-9b4f-370ce82b601f
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