A 24*7 patrolling mobile robot (part 1 - navigation)

• Main Author: Tan, Zhi Ping.
• Other Authors: Sung, Eric
• Format: Final Year Project
• Language: English
• Published: 2011
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: http://hdl.handle.net/10356/44919
• Institution: Nanyang Technological University

Navigation is one of the research topics that are greatly funded by both government and private sector. A good example is the rising development of low-cost robotic space exploration where the robot is tasked to navigate and collect data from any specific planet or moon. Navigation can be classified into Localization, Path Planning and Obstacle Avoidance. Localization is the ability to locate the current position of the robot within a region. Path planning is a searching algorithm using a static map to compute a path to reach the target goal using the given current position while Obstacle Avoidance is the capability to re-plan the given path by the Path Planning to prevent it from crashing into the obstacles. In this Final Year Project, my task is to experiment with Dijkstra’s Algorithm for its reliability in Path Planning and investigate which techniques, namely Trajectory Planner or Dynamics Window Approach (DWA), is more suitable for Obstacle Avoidance.