The development of localisation capabilities and control for a low-cost robot

 

Show simple item record

dc.contributor.advisor Marais, Stephen en_ZA
dc.contributor.author McWilliams, Kate en_ZA
dc.date.accessioned 2014-07-31T11:20:39Z
dc.date.available 2014-07-31T11:20:39Z
dc.date.issued 2008 en_ZA
dc.identifier.citation McWilliams, K. 2008. The development of localisation capabilities and control for a low-cost robot. University of Cape Town. en_ZA
dc.identifier.uri http://hdl.handle.net/11427/5504
dc.description Includes bibliographical references (leaves 58-61).
dc.description.abstract A fully autonomous robot which can perform dangerous or mundane tasks is the ideal outcome of robotic research. A variety of commercially available household robots such as robotic vacuum cleaners exist but are limited in their navigation ability. In general, they tend to use random search patterns to navigate a room and overestimate the time required to clean the room in order to ensure covering the entire area. The ability to map the environment and then use this map to navigate is an essential step towards total autonomy, and would greatly improve the efficiency of these household robots. Autonomous mapping is a complex problem as the robot must use sensor readings to generate a map while at the same time using that map to locate itself and navigate. One component of the mapping task is localisation. This is the process of determining position and orientation from sensor data given a known map. This was the focus of this work as a first-step towards an autonomous mapping robot. This project continued the work of an undergraduate thesis in which a robot vacuum base was built. Using this base, the sensing and control systems were developed. The selection of a suitable controller was an important aspect of the development. It had to be suitable not only for this task but allow for expansion of the control capabilities should the project be extended. The Gumstix/Roboaudiostix embedded system was chosen and performed successfully. Its extremely small size and low power requirements are a feature of the system. en_ZA
dc.language.iso eng en_ZA
dc.subject.other Mechanical Engineering en_ZA
dc.title The development of localisation capabilities and control for a low-cost robot en_ZA
dc.type Master Thesis
uct.type.publication Research en_ZA
uct.type.resource Thesis en_ZA
dc.publisher.institution University of Cape Town
dc.publisher.faculty Faculty of Engineering and the Built Environment
dc.publisher.department Department of Mechanical Engineering en_ZA
dc.type.qualificationlevel Masters
dc.type.qualificationname MSc en_ZA
uct.type.filetype Text
dc.identifier.apacitation McWilliams, K. (2008). <i>The development of localisation capabilities and control for a low-cost robot</i>. (Thesis). University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Mechanical Engineering. Retrieved from http://hdl.handle.net/11427/5504 en_ZA
dc.identifier.chicagocitation McWilliams, Kate. <i>"The development of localisation capabilities and control for a low-cost robot."</i> Thesis., University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Mechanical Engineering, 2008. http://hdl.handle.net/11427/5504 en_ZA
dc.identifier.vancouvercitation McWilliams K. The development of localisation capabilities and control for a low-cost robot. [Thesis]. University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Mechanical Engineering, 2008 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/5504 en_ZA
dc.identifier.ris TY - Thesis / Dissertation AU - McWilliams, Kate AB - A fully autonomous robot which can perform dangerous or mundane tasks is the ideal outcome of robotic research. A variety of commercially available household robots such as robotic vacuum cleaners exist but are limited in their navigation ability. In general, they tend to use random search patterns to navigate a room and overestimate the time required to clean the room in order to ensure covering the entire area. The ability to map the environment and then use this map to navigate is an essential step towards total autonomy, and would greatly improve the efficiency of these household robots. Autonomous mapping is a complex problem as the robot must use sensor readings to generate a map while at the same time using that map to locate itself and navigate. One component of the mapping task is localisation. This is the process of determining position and orientation from sensor data given a known map. This was the focus of this work as a first-step towards an autonomous mapping robot. This project continued the work of an undergraduate thesis in which a robot vacuum base was built. Using this base, the sensing and control systems were developed. The selection of a suitable controller was an important aspect of the development. It had to be suitable not only for this task but allow for expansion of the control capabilities should the project be extended. The Gumstix/Roboaudiostix embedded system was chosen and performed successfully. Its extremely small size and low power requirements are a feature of the system. DA - 2008 DB - OpenUCT DP - University of Cape Town LK - https://open.uct.ac.za PB - University of Cape Town PY - 2008 T1 - The development of localisation capabilities and control for a low-cost robot TI - The development of localisation capabilities and control for a low-cost robot UR - http://hdl.handle.net/11427/5504 ER - en_ZA


Files in this item

This item appears in the following Collection(s)

Show simple item record