Thesis
Robotic navigation for ductwork and close quarters
Master of Science (M.S.), Drexel University
Mar 2014
DOI:
https://doi.org/10.17918/etd-4476
Abstract
This project aims to to study robotic navigation and performance in ductwork structures for a vehicle designed to map radiation levels as a function of position. A feasibility study was completed, examining the performance of a simple wheeled vehicle in ductwork. During this phase, various range finding, odometry and radiation detecting sensors were tested. Optical odometry combined with simultaneous localization and mapping (SLAM) proved particularly effective in this phase. A navigation study focused on navigation algorithms that could utilize SLAM and odometry data to navigate complex situations. Three main navigation techniques were studied: search tree navigation, Voronoi navigation, and potential field navigation. Basic potential field navigation was then extended to allow it to overcome local minimum in the potential function by using minimum free, harmonic functions as potential functions.
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Details
- Title
- Robotic navigation for ductwork and close quarters
- Creators
- Kristopher Krasnosky - DU
- Contributors
- Paul Yu Oh (Advisor) - Drexel University (1970-)
- Awarding Institution
- Drexel University
- Degree Awarded
- Master of Science (M.S.)
- Publisher
- Drexel University; Philadelphia, Pennsylvania
- Resource Type
- Thesis
- Language
- English
- Academic Unit
- College of Engineering (1970-2026); Mechanical Engineering (and Mechanics) (1970-2026); Drexel University
- Other Identifier
- 4476; 991014632438204721