Mobile robot guidance and navigation

Airs, Leslie (2005) Mobile robot guidance and navigation. [USQ Project] (Unpublished)

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Abstract

Autonomous robotic vehicle navigation relies on the vehicle being able to know where it is to an adequate degree of accuracy, and also to be able to sense the environment around it as required. The purpose of this project, Mobile Robot Guidance and Navigation, is to design and construct hardware to interface sensors to the steering system of a mobile (wheel or track articulated) robotic vehicle. Lab commissioning and field trials have shown the vehicle to be able to navigate over rough terrain while maintaining directional control. Electronic compass resolution is 0.1 degrees, and maintains good stability when it is mounted clear of interfering devices when kept horizontal or error correction implemented. Electronic compass based control for high-speed sub second positioning control is a practical way of maintaining stable control between longer interval GPS correction data.


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Item Type: USQ Project
Refereed: No
Item Status: Live Archive
Depositing User: epEditor USQ
Faculty / Department / School: Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering
Date Deposited: 11 Oct 2007 00:23
Last Modified: 02 Jul 2013 22:32
Uncontrolled Keywords: robotic vehicle navigation, electronic compass, GPS, machine vision
Fields of Research (FOR2008): 09 Engineering > 0902 Automotive Engineering > 090203 Automotive Mechatronics
09 Engineering > 0906 Electrical and Electronic Engineering > 090602 Control Systems, Robotics and Automation
URI: http://eprints.usq.edu.au/id/eprint/511

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