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

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dc.contributor.advisorMarais, Stephenen_ZA
dc.contributor.authorMcWilliams, Kateen_ZA
dc.date.accessioned2014-07-31T11:20:39Z
dc.date.available2014-07-31T11:20:39Z
dc.date.issued2008en_ZA
dc.descriptionIncludes bibliographical references (leaves 58-61).
dc.description.abstractA 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.identifier.apacitationMcWilliams, 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/11427/5504en_ZA
dc.identifier.chicagocitationMcWilliams, 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/11427/5504en_ZA
dc.identifier.citationMcWilliams, K. 2008. The development of localisation capabilities and control for a low-cost robot. University of Cape Town.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
dc.identifier.urihttp://hdl.handle.net/11427/5504
dc.identifier.vancouvercitationMcWilliams 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/11427/5504en_ZA
dc.language.isoengen_ZA
dc.publisher.departmentDepartment of Mechanical Engineeringen_ZA
dc.publisher.facultyFaculty of Engineering and the Built Environment
dc.publisher.institutionUniversity of Cape Town
dc.subject.otherMechanical Engineeringen_ZA
dc.titleThe development of localisation capabilities and control for a low-cost roboten_ZA
dc.typeMaster Thesis
dc.type.qualificationlevelMasters
dc.type.qualificationnameMScen_ZA
uct.type.filetypeText
uct.type.publicationResearchen_ZA
uct.type.resourceThesisen_ZA
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