Accession Number:

ADA361540

Title:

Automated Cartography by an Autonomous Mobile Robot

Descriptive Note:

Master's thesis

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s):

Report Date:

1999-03-01

Pagination or Media Count:

73.0

Abstract:

The major goal of this thesis was to create a map of a room by an autonomous mobile robot using the robots 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 robots odometry.

Subject Categories:

  • Cartography and Aerial Photography
  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE