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Autonomous Indoor Navigation System for Mobile Robots
Linköping University, Department of Computer and Information Science, Software and Systems.
2016 (English)Independent thesis Basic level (degree of Bachelor), 10,5 credits / 16 HE creditsStudent thesis
Abstract [en]

With an increasing need for greater traffic safety, there is an increasing demand for means by which solutions to the traffic safety problem can be studied. The purpose of this thesis is to investigate the feasibility of using an autonomous indoor navigation system as a component in a demonstration system for studying cooperative vehicular scenarios. Our method involves developing and evaluating such a navigation system. Our navigation system uses a pre-existing localization system based on passive RFID, odometry and a particle filter. The localization system is used to estimate the robot pose, which is used to calculate a trajectory to the goal. A control system with a feedback loop is used to control the robot actuators and to drive the robot to the goal.

 

The results of our evaluation tests show that the system generally fulfills the performance requirements stated for the tests. There is however some uncertainty about the consistency of its performance. Results did not indicate that this was caused by the choice of localization techniques. The conclusion is that an autonomous navigation system using the aforementioned localization techniques is plausible for use in a demonstration system. However, we suggest that the system is further tested and evaluated before it is used with applications where accuracy is prioritized.

Place, publisher, year, edition, pages
2016. , 43 p.
Keyword [en]
autonomous, indoor navigation, robot navigation, automatic control, PID, vehicular
National Category
Computer Engineering
Identifiers
URN: urn:nbn:se:liu:diva-129419ISRN: LIU-IDA/LITH-EX-G--16/004--SEOAI: oai:DiVA.org:liu-129419DiVA: diva2:939406
Subject / course
Computer Engineering
Supervisors
Examiners
Available from: 2016-06-27 Created: 2016-06-18 Last updated: 2016-06-27Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf