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Published byRonald Miles Modified over 9 years ago
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Building Maps and Navigation for Autonomous Robots Arindam Khaled AI and Knowledge Based Sys II
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Purpose To design and implement an autonomous learning agent. To understand the difficulty, labor, and knowledge involved in designing an autonomous robot. – Hardware and software systems. – To study and understand a few theories on robot navigation from the literature.
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Project Goals Let the autonomous robot build map of the closed environment. Given the starting co-ordinate and end co- ordinate, devise a program such that the robot can navigate from its starting position to the destination. Later, once a working version is released upload this version in youtube and possibly publish a paper!
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Architecture(hardware) LEGO Mindstorm NXT toolkit. – Primary components: Three servo motors: Two to move the robot and one to rotate the sonar(s). Sonar: Right now the robot has only one sonar. But one more sonar is planned to be added for better readings. Touch sensor: In case the sonars fail to detect an obstacle or the sonars are pointed not towards the direction of the movement and an obstacle exists in that direction. Color sensor: A color sensor is planned to be used to determine the boundaries. Microcontroller: It executes the programs, controls the motors and receives data from the sensors. Bluetooth enabled PC: It will communicate with the robot’s microcontrolled.
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Semi-Final Version
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Software RobotC: It is used to create programs for the microcontroller. Anders’ Mindstorm: It is an open source software for LEGO Mindstorm. This will be used for bluetooth communication.
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A high level process diagram for Building Maps
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Navigation Use A* based, genetic, and other algorithms found in the literature as the time permits.
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A novel concept (Most probably) If the current location is not predefined then use neural nets to detect the current location. If time permits then this approach will be further explored.
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Knowledge The algorithms for map building and navigation, and the empirical evidence. In the neural nets.
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References http://www.norgesgade14.dk/bluetoothlibrar y.php http://www.norgesgade14.dk/bluetoothlibrar y.php http://www.nxtprograms.com/explorer/index. html http://www.nxtprograms.com/explorer/index. html
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