2026-09-21T17:17:26Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/18313 2023-07-10 col_2142_5131 col_2142_10761 com_2142_5130 com_2142_10755 com_2142_234

LaValle, Steven M. Taylor, Kamilah J. 2011-01-14T22:45:54Z 2011-01-14T22:45:54Z 2010-12 2011-01-14T22:45:54Z 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. Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2010-12-03T19:28:27Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 2 Taylor_Kamilah.tex: 60213 bytes, checksum: 50bc0ca53a608f92d7aed7a88b8781f2 (MD5) Taylor_Kamilah.pdf: 4452123 bytes, checksum: b11c3add0d4b1729077706bc2778baab (MD5) Made available in DSpace on 2011-01-14T22:45:54Z (GMT). No. of bitstreams: 3 Taylor_Kamilah.pdf: 7573931 bytes, checksum: 1d818161cc63bd2ee148dc1335d37db9 (MD5) license.txt: 4064 bytes, checksum: 9cafcd1d88711b55d0e34a95fb25810a (MD5) Taylor_Kamilah.tex: 63214 bytes, checksum: 3340eed95b136063c826162df49021df (MD5) http://hdl.handle.net/2142/18313 en Copyright 2010 Kamilah J. Taylor robotics planning algorithms bug algorithms infrared beacon Navigation in an unfamiliar environment using signal intensity 2010-12 Computer Science 1434 Computer Science 0112 University of Illinois at Urbana-Champaign Thesis M.S. PHD:Computer Science -UIUC 10KS0112PHD