Navigation in an unfamiliar environment using signal intensity

Taylor, Kamilah J.

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https://hdl.handle.net/2142/18313 Copy

Description

Title

Navigation in an unfamiliar environment using signal intensity

Author(s)

Taylor, Kamilah J.

Issue Date

2011-01-14T22:45:54Z

Director of Research (if dissertation) or Advisor (if thesis)

LaValle, Steven M.

Department of Study

Computer Science

Discipline

Computer Science

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

M.S.

Degree Level

Thesis

Keyword(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.

Graduation Semester

2010-12

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http://hdl.handle.net/2142/18313

Copyright and License Information

Copyright 2010 Kamilah J. Taylor

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