Precision Navigation for Indoor Mobile Robots

This thesis describes a precision navigation system for indoor mobile robots, developed to address deficiencies in the ROS navigation stack when used for precision navigation. It includes a precision localization subsystem, based on a planar laser scanner, wheel encoders, a gyroscope and an <em>a priori</em> map, and a precision path execution system made up of a steering algorithm, a trajectory generator and a simplistic path planner. A 3D octree costmap based on the OctoMap library was also developed for collision detection. Geometric parameterizations for path segments were developed for use by those components. The precision navigation system was evaluated using a physical robot, CWRU's HARLIE, as well as in a Gazebo simulation. This precision navigation system allowed HARLIE to precisely navigate indoors, following paths made up of straight lines, constant curvature arcs and spin-in-place segments with as little as just over three centimeters of RMS lateral offset error.

Name thesis:degree_name

Master of Sciences

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

EECS - Computer and Information Sciences

Grantor dc:publisher

Case Western Reserve University School of Graduate Studies

Year dc:date

2013

Author dc:creator

• Perko, Eric Michael

Contributors dc:contributor

• Newman, Wyatt

• Robotics
• Robots
• precision navigation
• mobile robot
• ROS
• localization
• steering
• trajectory generation
• OctoMap

Statement dc:rights

• unrestricted
• This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.

Language dc:language

English

Repository record dc:identifier

http://rave.ohiolink.edu/etdc/view?acc_num=case1345513785

OAI identifier oai:identifier

oai:etd.ohiolink.edu:case1345513785