Automated Cartography by an Autonomous Mobile Robot

reportActive / Technical Report | Accession Number: ADA361540 | Open PDF

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.

Author(s):
Merrell, Mark L.
Author Organization(s):
NAVAL POSTGRADUATE SCHOOL MONTEREY CA
Descriptive Note:
Master's thesis
Pagination:
0073

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

Distribution:
Approved For Public Release

RECORD

Collection: TR
Identifying Numbers
Monitor Series:
NPS
 Subject Terms
Joint Capability Areas:
JCA_5_Command and Control; JCA_1.2.7_Experimentation; JCA_5.3_Planning; JCA_4.3_Maintain; JCA_1.2.5_Lessons Learned; JCA_5.5.2_Task; JCA_5.5_Direct
Modernization Areas:
Autonomy
Communities of Interest:
Autonomy
Descriptor(s):
*ROBOTS, *MAPPING, ALGORITHMS, ROBOTICS, AUTOMATION, DETECTORS, THESES, NAVIGATION, ULTRASONICS, MOBILE, AUTONOMOUS NAVIGATION, SONAR, MAP PROJECTION, ODOMETERS
Field(s)/Group(s):
Cartography and Aerial Photography, Cybernetics
Keyword(s):
ULTRASONIC SENSORS, CARTOGRAPHY, MML(MODEL BASED MOBILE ROBOT LANGUAGE), AUTONOMOUS MOBILE ROBOTS
Report Date:
1999 Mar 01
Creation Date:
1999 Apr 14