Goal-driven Mobile Robot Navigation in Unknown Indoor Environments

Marasinghe Arachchige, Nuwan Ganganath

Goal-driven Mobile Robot Navigation in Unknown Indoor Environments

atmire.migration.oldid	592
dc.contributor.advisor	Leung, Henry
dc.contributor.author	Marasinghe Arachchige, Nuwan Ganganath
dc.date.accessioned	2013-01-18T18:46:17Z
dc.date.available	2013-06-15T07:01:45Z
dc.date.issued	2013-01-18
dc.date.submitted	2013	en
dc.description.abstract	A goal-driven mobile robot navigation system is proposed for unknown indoor environments. The proposed system can be subdivided into four main modules, namely, localization, mapping, motion control, and goal detection. In the proposed system, a mobile robot uses an odometry system and a Kinect sensor as its input devices. An optimal particle filter models the posterior over the robot trajectory while minimizing the variance of the importance weights of the particles. Occupancy grid maps are employed to represent the environment as they do not make any assumptions on distinguishable landmarks. A nearness-diagram reactive navigation technique generates motion commands based on the robot position and navigation goal location. A trajectory parameter space is used as an abstraction layer of the robot shape and kinematic constraints for the nearness-diagram method. A goal-driven situation assessment framework based on fuzzy cognitive maps is developed to verify navigation goals using sensory information and expert knowledge.	en_US
dc.identifier.citation	Marasinghe Arachchige, N. G. (2013). Goal-driven Mobile Robot Navigation in Unknown Indoor Environments (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/26311	en_US
dc.identifier.doi	http://dx.doi.org/10.11575/PRISM/26311
dc.identifier.uri	http://hdl.handle.net/11023/432
dc.language.iso	eng
dc.publisher.faculty	Graduate Studies
dc.publisher.institution	University of Calgary	en
dc.publisher.place	Calgary	en
dc.rights	University of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subject	Engineering--Electronics and Electrical
dc.subject	Robotics
dc.subject.classification	Robotics	en_US
dc.subject.classification	Navigation	en_US
dc.subject.classification	localization	en_US
dc.subject.classification	Mapping	en_US
dc.subject.classification	goal detection	en_US
dc.title	Goal-driven Mobile Robot Navigation in Unknown Indoor Environments
dc.type	master thesis
thesis.degree.discipline	Electrical and Computer Engineering
thesis.degree.grantor	University of Calgary
thesis.degree.name	Master of Science (MSc)
ucalgary.item.requestcopy	true