presentation on autonomous navigation

PRESENTATION ON

TECHNIQUES USED IN MOBILE ROBOT NAVIGATION

Robot navigation means the robot's ability to determine its own position in its frame of reference and then to plan a path towards some goal location

Navigation requires any one or a combination of one or more of the following fundamental competences:

• Self-localisation i.e. a robot's ability to establish its own position and orientation within the frame of reference.

• Map-building and map interpretation which can be in the shape of a metric map or any notation describing locations in the robot frame of reference.

• Path planning which is effectively an extension of localisation, in that it requires the determination of the robot's current position and a position of a goal location, both within the same frame of reference or coordinates.

The physical scale of a device's navigation requirements can be measured by the accuracyto which the mobile robot needs to navigate:

• Global navigation, which is the ability to determine one's position in absolute or map referenced terms, and to move to a desired destination point. • Local navigation, the ability to determine one's position relative to

objects (Stationary or moving) in the environment, and to interact with them correctly.

• Personal navigation, which involves being aware of the positionin

g of the various parts that make up oneself, in relation to each other and in handling objects.

NAVIGATION COMPRISES OF:

Map building and Self localization Path planning interpretation Relative Absolute 1. Odometry 1. Active beacons

2. Inertial navigation 2. GPS 3. Landmark 4. Model matching 5. Monocular vision

ODOMETRY

• It is based on some form of odometer.• Odo5