How the robot works

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The robot builds a topological map autonomously of an area.  Afterwards it is capable of using the map to generate the shortest path to a destination, and then travel there.  Since the limited range of the primary sensors (Sharp IR Rangefinders 10-80cm), the robot maps and navigates following walls.

This is the target area of the simulation.

Here is the results of the mapping (in the simulator).  For a detailed explanation download thesis.pdf on the main page.

And of course a close up of the map