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