Robotic navigation of smooth contours
Name
191730995-MIT.pdf
Description
Full printable version
Size
359.61 KB
Format
Adobe PDF
Checksum (MD5)
19c33b366ab7debd96ee6187b27f5cd2
Author(s)
Moore, Justin C
Advisor(s)
John Leonard.
Date Issued
2007
Publisher
Massachusetts Institute of Technology
Abstract
The goal of this work is to develop a method for robotic navigation of smooth contours depending on the current and desired locations and orientations. Efficient trajectory generation is an essential capability for many autonomous mobile robots, operating in a variety of situations such as military, medical, and home environments. In this thesis, we propose a method that is based on fitting a spline curve that passes from the initial position and orientation of the robot to a goal position and orientation. The spline is continually recomputed as the robot moves through space. This yields a simple and inefficient method for robot navigation. The method has been implemented and tested in simulation using Matlab and good performance has been demonstrated. Future work should perform experiments with this method on a real robot and should introduce obstacle detection and avoidance.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
Includes bibliographical references (leaf 10).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
Persistent DSpace Link
