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1、DevelopmentandImplementationofaSelf-BuildingGlobalMapforAutonomousNavigationPhilipRedleafKedrowskiThesissubmittedtotheFacultyoftheVirginiaPolytechnicInstituteandStateUniversityinpartialfulfillmentoftherequirementsforthedegreeofMasterofScienceinMechanicalEngineeringDr.CharlesF.Reinhol
2、tz,ChairmanDr.HarryH.RobertshawDr.DonJ.LeoApril24,2001Blacksburg,VirginiaKeywords:MobileRobots,AutonomousVehicles,Robotics,ArtificialIntelligence,Mapping,Calibration,Optimization,SimulationCopyright2001,PhilipR.KedrowskiToJeannine“grams”DevelopmentandImplementationofaSelf-BuildingGlo
3、balMapforAutonomousNavigationPhilipR.KedrowskiCommitteeChairman:Dr.CharlesF.ReinholtzMechanicalEngineeringDepartment(ABSTRACT)StudentsatVirginiaTechhavebeendevelopingautonomousvehiclesforthepastfiveyears.ThepurposeofthesevehicleshasbeenprimarilyforentryintheannualinternationalIntelli
4、gentGroundVehicleCompetition(IGVC),howeverfurtherapplicationsforautonomousvehiclesrangefromUneXplodedOrdinance(UXO)detectionandremovaltoplanetaryexploration.Recently,VirginiaTechdevelopedasuccessfulautonomousvehiclenamedNavigator.NavigatorwasdevelopedprimarilyforentryintheIGVC,butals
5、ointendedforuseasaresearchplatform.Fornavigation,NavigatorusesalocalobstacleavoidancemethodknownastheVectorFieldHistogram(VFH).However,inordertoformacompletenavigationscheme,thelocalobstacleavoidancealgorithmmustbecoupledwithaglobalmap.Thisworkpresentsasimplealgorithmfordevelopingaqu
6、asi-freespaceglobalmap.Thealgorithmisbasedonthepremisethattherobotwillbegivenmultipleattemptsataparticulargoal.Duringearlyattempts,Navigatorexploresusingsolelylocalobstacleavoidance.Whileexploring,Navigatorrecordswhereithasbeenandusesthisinformationonsubsequentattempts.Further,thisth
7、esisoutlinesthelook-aheadmethodbywhichtheglobalmapisimplemented.Finally,bothsimulatedandexperimentalresultsarepresented.Theaforementionedglobalmapbuildingalgorithmusesacommonmethodoflocalizationknownasodometry.Odometry,alsoreferredtoasdeadreckoning,issubjectiiitoinaccuracycausedbysys
8、tematicandno
