Obstacle detection and avoidance on a mobile robotic platform using active depth sensing
Calibo, Taylor K.
MetadataShow full item record
The ability to recognize and navigate surrounding environments free from collision with obstacles has been at the forefront of mobile robotic applications since its inception. At the price of nearly one tenth of a laser range finder, the Xbox Kinect uses an infrared projector and camera to capture images of its environment in three dimensions. The objective of this thesis was to investigate if the Xbox Kinect can be utilized to detect thin or narrow obstacles that are often invisible to the P3-DX mobile robotic platform. We present an algorithm to process and analyze point cloud data from the Xbox Kinect sensor and transform it into a two-dimensional map of the surrounding environment for further use with the P3-DX. Obstacle avoidance scenarios were then performed using two separate algorithms: a narrow corridor following algorithm and a potential fields algorithm. The results demonstrate that in a structured testing environment, the Xbox Kinect can be used to detect and avoid narrow obstacles that are not immediately recognized by the onboard sonar array of the P3-DX.
Approved for public release; distribution is unlimited
Showing items related by title, author, creator and subject.
Tan, Ko-Cheng (Monterey, California. Naval Postgraduate School, 1996-06);Motion planning and control of a Nomad 200 mobile robot are studied in this thesis. The objective is to develop a motion planning and control algorithm that is able to move the robot from an initial configuration (position ...
Papadatos, Athanassios (Monterey, California. Naval Postgraduate School, 1996-03);The path planning algorithm in Yamabico is based on a variation of Dijkstra's algorithm which has time complexity of O(n2). This algorithm works well in a dynamic environment, but a faster algorithm, called the All-Pairs ...
Migration of a real-time optimal-control algorithm from MATLAB TM to Field Programmable Gate Array (FPGA) Moon, Ron L. (Monterey, California. Naval Postgraduate School, 2005-12);This thesis presents an overarching plan to migrate a time-optimal spacecraft control algorithm from the MATLABTM development environment into an FPGA-based embedded-platform development board. Research at the Naval ...