University of Illinois Urbana-Champaign

Navigation in an unfamiliar environment using signal intensity

Taylor, Kamilah J.

Content Files
Taylor_Kamilah.pdf

Permalink

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

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
Date of Ingest
2011-01-14T22:45:54Z
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
Permalink
http://hdl.handle.net/2142/18313
Copyright and License Information
Copyright 2010 Kamilah J. Taylor

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