Guaranteed Navigation With An Unreliable Blind Robot

<p>We consider a navigation problem for a robot equipped with only a map, compass, and contact sensor. In addition to the limitations placed on sensing, we assume that there exists some bounded uncertainty on rotations of our robot, due to precision errors from the compass. We present an algorithm providing guaranteed transitions in the environment between certain pairs of points. The algorithm chains these transitions together to form complete navigation plans. The simplicity of the robots design allows us to concentrate on the nature of the navigation problem, rather than the design and implementation of our robotic system. We illustrate the algorithm with an implementation and simulated results</p>

Name thesis:degree_name

M.S.

Level thesis:degree_level

Campus Access Thesis

Discipline thesis:degree_discipline

Computer Science and Engineering

Year

2011

Author dc:creator

• Lewis, Jeremy

Contributors dc:contributor

• Jason M O'Kane

• Computer Sciences
• Electrical and Computer Engineering
• Engineering
• Physical Sciences and Mathematics
• computational geometry
• landmark-based
• Navigation
• Planning Algorithm

Statement dc:rights

• © 2011, Jeremy Lewis

Repository record dc:identifier

https://scholarcommons.sc.edu/etd/789

OAI identifier oai:identifier

oai:scholarcommons.sc.edu:etd-1790