Navigation in an unfamiliar environment using signal intensity

robotics;planning algorithms;bug algorithms;infrared beacon

Taylor, Kamilah J. ; LaValle ; Steven M.

关键词: robotics;    planning algorithms;    bug algorithms;    infrared beacon;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/18313/Taylor_Kamilah.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

This thesis introduces a sensor-based planning algorithm that uses lesssensing information than any others within the family of bugalgorithms.The robot is unable to access precise informationregarding position coordinates, angular coordinates, time, orodometry, but is nevertheless able to navigate itself to a goal amongunknown piecewise-analytic obstacles in the plane.The only sensorproviding real values is an intensity sensor, which measures thesignal strength emanating from the goal.The signal intensityfunction may or may not be symmetric; the main requirement is that thelevel sets are concentric images of simple closed curves, i.e. topological circles.Convergence analysisand distance bounds are established for the presented approach. Thealgorithm is then experimentally verified using a differential driverobot and an infrared beacon.