Welcome To UTPedia

We would like to introduce you, the new knowledge repository product called UTPedia. The UTP Electronic and Digital Intellectual Asset. It stores digitized version of thesis, dissertation, final year project reports and past year examination questions.

Browse content of UTPedia using Year, Subject, Department and Author and Search for required document using Searching facilities included in UTPedia. UTPedia with full text are accessible for all registered users, whereas only the physical information and metadata can be retrieved by public users. UTPedia collaborating and connecting peoples with university’s intellectual works from anywhere.

Disclaimer - Universiti Teknologi PETRONAS shall not be liable for any loss or damage caused by the usage of any information obtained from this web site.Best viewed using Mozilla Firefox 3 or IE 7 with resolution 1024 x 768.

Study Of Behaviour-based Navigation for Indoor Mobile Robot

Ue Wei, Tan (2018) Study Of Behaviour-based Navigation for Indoor Mobile Robot. UNSPECIFIED.

[img] PDF
Restricted to Registered users only

Download (2050Kb)

Abstract

A mobile robot with a behaviour-based navigation system is where a robot relies on sensor inputs to control the locomotion of the mobile robot while navigating along an unknown path. The aim of this project is to study a behaviour-based navigation algorithm when implemented in a basic robot for navigation in an indoor environment. The mobile robot should be able to navigate from one point to another autonomously. As part of the behaviour-based autonomous navigation system, three behaviours have been developed for the mobile robot. The behaviours include the wall follower behaviour, obstacle avoidance behaviour and the move to goal behaviour. The wall follower behaviour is mainly controlled using the PID controller. The developed behaviours were then tested in a track consisted of 5 types of junctions which are the left turn, right, turn, dead-end, 3-way and 4-way junctions. 10 trials have been done on each junction in order to observe the success rate of the mobile robot reacting to the approached junction. Throughout the experiment, it was observe that the mobile robot is able to navigate through the left turn, right turn and dead-end junctions with 100% success rate. However, the success rate when the robot encounters a 3-way and 4-way junction is only 80% and 60% respectively. For future work, individuals should look into using faster sensors like the laser distance sensors as light travels faster than sound and could possibly improve the performance of this navigation system.

Item Type: Final Year Project
Academic Subject : Academic Department - Electrical And Electronics - Pervasisve Systems - Digital Electronics - Design
Subject: UNSPECIFIED
Divisions: Engineering > Electrical and Electronic
Depositing User: Ahmad Suhairi Mohamed Lazim
Date Deposited: 20 Jun 2019 08:31
Last Modified: 20 Jun 2019 08:31
URI: http://utpedia.utp.edu.my/id/eprint/19208

Actions (login required)

View Item View Item

Document Downloads

More statistics for this item...