Autonomous navigation with mobile robot using ultrasonic rangefinders
Author(s)Campion, Joseph (Joseph F.)
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Harrison H. Chin.
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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.
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.Cataloged from PDF version of thesis.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology