Autonomous navigation with mobile robot using ultrasonic rangefinders

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.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2015

Author dc:creator

• Campion, Joseph (Joseph F.)

Advisor dc:contributor.advisor

• Harrison H. Chin.

• Mechanical Engineering.

Statement dc:rights

• 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.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/98957

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/98957