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Title:Navigation in an unfamiliar environment using signal intensity
Author(s):Taylor, Kamilah J.
Advisor(s):LaValle, Steven M.
Department / Program:Computer Science
Discipline:Computer Science
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):robotics
planning algorithms
bug algorithms
infrared beacon
Abstract:This thesis introduces a sensor-based planning algorithm that uses less sensing information than any others within the family of bug algorithms. The robot is unable to access precise information regarding position coordinates, angular coordinates, time, or odometry, but is nevertheless able to navigate itself to a goal among unknown piecewise-analytic obstacles in the plane. The only sensor providing real values is an intensity sensor, which measures the signal strength emanating from the goal. The signal intensity function may or may not be symmetric; the main requirement is that the level sets are concentric images of simple closed curves, i.e. topological circles. Convergence analysis and distance bounds are established for the presented approach. The algorithm is then experimentally verified using a differential drive robot and an infrared beacon.
Issue Date:2011-01-14
URI:http://hdl.handle.net/2142/18313
Rights Information:Copyright 2010 Kamilah J. Taylor
Date Available in IDEALS:2011-01-14
Date Deposited:December 2


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