Author : Mark L. Merrell
Publisher :
ISBN 13 : 9781423553878
Total Pages : 73 pages
Book Rating : 4.5/5 (538 download)
Book Synopsis Automated Cartography by an Autonomous Mobile Robot by : Mark L. Merrell
Download or read book Automated Cartography by an Autonomous Mobile Robot written by Mark L. Merrell and published by . This book was released on 1999-03-01 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt: The major goal of this thesis was to create a map of a room by an autonomous mobile robot using the robot's internal odometry measurements and ultrasonic sensors. Yamabico, an autonomous mobile robot, will be controlled by Model-based Mobile robot Language (MML). The research for this thesis included the development of an algorithm to use information from the line-fitting capability of MML. It also included research about the inherent errors that are incurred using sonar for precise measurements. The results of this thesis are that it is possible for a map to be created by an autonomous robot using only ultrasonic sensors. However, the results would be much more accurate if an external source of navigation was used to correct the errors inherent in ultrasonic sensors and the robot's odometry.