Department of Computer Science and Electrical Engineering
An on-board Navigation system for Mobile Robots
Anthony Pfrunder
Abstract:
The task of getting a robot to move from point to point within an environment
that is constantly changing without running into anything is one of the
most difficult tasks to solve when designing and building a fast and robust
mobile robot. This thesis records the design and implementation of a navigation
system which aims to solve this problem using a behavioural approach as
compared to the traditional perception model. It is shown that the behavioural
model provides significant advantages in robustness, speed and reduced
complexity when compared to the perception model and can also avoid many
of the drawbacks involved with traditional methods of implementation such
as box cannons, boundary effects and dead spots.
This thesis is one of a series which describe the components of a
team of robots called the RoboRoos. These robots have been constructed
by the University of Queensland, Engineering Department for entry into
the RoboCup International soccer competition which tests the ability of
a team of robots to coordinate together to win a game of soccer. The results
and performance of the robots during the 1999 RoboCup competition show
the value of the behavioral model of navigation as compared to traditional
methods.
Complete thesis:
thesis.pdf
conference_paper.pdf
Additional material:
code simulator
About the Author
Dept of Computer Science and Electrical
Engineering / Anthony Pfrunder
/ pfrunder@elec.uq.edu.au
Student no. 341-625-964