Automated Cartography by an Autonomous Mobile Robot

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1999
Accession Number
ADA361540

Entities

People

  • Mark L. Merrell

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • C Programming Language
  • Cartography
  • Collision Avoidance
  • Computer Programming
  • Computer Science
  • Coordinate Systems
  • Frequency
  • Global Positioning Systems
  • Language
  • Maps
  • Measurement
  • Motion Planning
  • Navigation
  • Range Finding
  • Robots

Fields of Study

  • Computer science

Readers

  • Computer Vision.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy