| Author | Bodhale, Dhananjay W. |
| Call Number | AIT Thesis no.ISE-08-13 |
| Subject(s) | Mobile robots--Planning
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| Note | A thesis submitted in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-08-13 |
| Abstract | Nowadays, mobile robots work under the dynamic environment and are using many techniques for navigation. Most probably all mobile robots navigate in the dynamic environment to reach its specific goal points. There are many methods for successful navigation of the mobile robot in dynamic environment. This thesis focuses on path planning by potential field method and Monte Carlo localization method for navigation and localization of the mobile robot in a dynamic environment. The path planning algorithms has divided into two submodules, one is global path planning which uses visibility graph with A * search method and another is local path planning which uses potential field method to avoid the obstacles. The image processing is used to get the working environment information. The robot system uses global camera to capture the continuous images for path planning and sonar sensors for localization in global map and obstacle avoidance. The Monte Carlo localization algorithms are used for localize the mobile robot in the global space. The thesis uses the position data from the path planning algorithms to move the robot. The MCL algorithms for continuous localization then use the position data. The robot in this thesis uses sonar sensors in addition with camera for successful navigation. The PMADE V 1.0 software is updated with some new feature like manual controls for mobile robots, robot control and so on. Updated PMADE V 2.0 is used for image processing, path planning, simulation, and robot control program. The software is made user friendly with robot simulator, real robot control program and many other features. |
| Year | 2008 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-08-13 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Afzulpurkar, Nitin V. |
| Examination Committee(s) | Manukid Parnichkun;Bohez, Erik L.J. |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2008 |