Navigation in an unfamiliar environment using signal intensity

This thesis introduces a sensor-based planning algorithm that uses less sensing information than any others within the family of bug algorithms. The robot is unable to access precise information regarding position coordinates, angular coordinates, time, or odometry, but is nevertheless able to navigate itself to a goal among unknown piecewise-analytic obstacles in the plane. The only sensor providing real values is an intensity sensor, which measures the signal strength emanating from the goal. The signal intensity function may or may not be symmetric; the main requirement is that the level sets are concentric images of simple closed curves, i.e. topological circles. Convergence analysis and distance bounds are established for the presented approach. The algorithm is then experimentally verified using a differential drive robot and an infrared beacon.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Computer Science

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2011

Author dc:creator

• Taylor, Kamilah J.

Contributors dc:contributor

• LaValle, Steven M.

• robotics
• planning algorithms
• bug algorithms
• infrared beacon

Statement dc:rights

• Copyright 2010 Kamilah J. Taylor

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/18313

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/18313