Autonomous navigation with mobile robot using ultrasonic rangefinders
Name
921147578-MIT.pdf
Description
Full printable version
Size
2.71 MB
Format
Adobe PDF
Checksum (MD5)
f662062cb8b12b79398de0c7fdcbe1cf
Author(s)
Campion, Joseph (Joseph F.)
Advisor(s)
Harrison H. Chin.
Date Issued
2015
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, I designed and implemented an autonomous navigation system for a four-wheeled mobile robot with ultrasonic sonar sensors and a National Instruments myRIO real-time controller. LabVIEW code was developed to control the motors with PWM signals based on sensor feedback. A low-pass filter was used to improve the signal to noise ratio since the signals from the ultrasonic sonar sensors were quite noisy. Finally, I developed two basic algorithms to maneuver the mobile robot: the first algorithm uses proportional control to maintain a specific distance from a target in front of the mobile robot; the second also uses proportional control to keep the robot at a specified distance away from a wall to its side as it travels forward.
Description
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.
Cataloged from PDF version of thesis.
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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