Navigating a vehicle autonomously and safely in unknown surroundings to a desired destination is challenging due to lack of initial information about stationary and moving objects along the path. This thesis proposes a navigation system that avoids static and dynamic obstacles using weighted real-time sensor feedback. The effectiveness of the system is demonstrated by implementing it on a robot. A 16-beam solid-state LiDAR sensor is used to detect obstacles to control a differential drive mobile robot. The sensor measurements are weighted and integrated into the Pure Pursuit path following algorithm to avoid obstacles in a natural smooth movement. The primary purpose of this thesis is to integrate all the sensors and processing units to create an appropriate reaction of the robot while it progresses toward the destination. The Algorithm proposed in this work guided the robot safely and fluently from start to end position while avoiding obstacles along the path.
|Commitee:||Hossein, Jula, Khoo, I-Hung|
|School:||California State University, Long Beach|
|School Location:||United States -- California|
|Source:||MAI 58/03M(E), Masters Abstracts International|
|Keywords:||Control and automation, Differential drive robot, Navigation, Obstacle avoidance, Sensor fusion, Weighted feedback|
Copyright in each Dissertation and Thesis is retained by the author. All Rights Reserved
The supplemental file or files you are about to download were provided to ProQuest by the author as part of a
dissertation or thesis. The supplemental files are provided "AS IS" without warranty. ProQuest is not responsible for the
content, format or impact on the supplemental file(s) on our system. in some cases, the file type may be unknown or
may be a .exe file. We recommend caution as you open such files.
Copyright of the original materials contained in the supplemental file is retained by the author and your access to the
supplemental files is subject to the ProQuest Terms and Conditions of use.
Depending on the size of the file(s) you are downloading, the system may take some time to download them. Please be