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The development of localisation capabilities and control for a low-cost robot
Includes bibliographical references (leaves 58-61).
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| Main Author: | |
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
| Published: |
Department of Mechanical Engineering
2014
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| _version_ | 1867613184925368320 |
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| access_status_str | Open Access |
| author | McWilliams, Kate |
| author2 | Marais, Stephen |
| author_browse | Marais, Stephen McWilliams, Kate |
| author_facet | Marais, Stephen McWilliams, Kate |
| author_sort | McWilliams, Kate |
| collection | Thesis |
| description | Includes bibliographical references (leaves 58-61). |
| format | Thesis |
| id | oai:open.uct.ac.za:11427/5504 |
| institution | University of Cape Town (South Africa) |
| language | eng |
| last_indexed | 2026-06-10T12:32:07.214Z |
| license_str | Not specified — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from UCTD — University of Cape Town Open Access Repository |
| publishDate | 2014 |
| publishDateRange | 2014 |
| publishDateSort | 2014 |
| publisher | Department of Mechanical Engineering |
| publisherStr | Department of Mechanical Engineering |
| record_format | dspace |
| source_str | UCTD — University of Cape Town Open Access Repository |
| spelling | oai:open.uct.ac.za:11427/5504 The development of localisation capabilities and control for a low-cost robot McWilliams, Kate Marais, Stephen Mechanical Engineering Includes bibliographical references (leaves 58-61). A fully autonomous robot which can perform dangerous or mundane tasks is the ideal outcome of robotic research. A variety of commercially available household robots such as robotic vacuum cleaners exist but are limited in their navigation ability. In general, they tend to use random search patterns to navigate a room and overestimate the time required to clean the room in order to ensure covering the entire area. The ability to map the environment and then use this map to navigate is an essential step towards total autonomy, and would greatly improve the efficiency of these household robots. Autonomous mapping is a complex problem as the robot must use sensor readings to generate a map while at the same time using that map to locate itself and navigate. One component of the mapping task is localisation. This is the process of determining position and orientation from sensor data given a known map. This was the focus of this work as a first-step towards an autonomous mapping robot. This project continued the work of an undergraduate thesis in which a robot vacuum base was built. Using this base, the sensing and control systems were developed. The selection of a suitable controller was an important aspect of the development. It had to be suitable not only for this task but allow for expansion of the control capabilities should the project be extended. The Gumstix/Roboaudiostix embedded system was chosen and performed successfully. Its extremely small size and low power requirements are a feature of the system. 2014-07-31T11:20:39Z 2014-07-31T11:20:39Z 2008 Master Thesis Masters MSc http://hdl.handle.net/11427/5504 eng application/pdf Department of Mechanical Engineering Faculty of Engineering and the Built Environment University of Cape Town |
| spellingShingle | Mechanical Engineering McWilliams, Kate The development of localisation capabilities and control for a low-cost robot |
| thesis_degree_str | Master's |
| title | The development of localisation capabilities and control for a low-cost robot |
| title_full | The development of localisation capabilities and control for a low-cost robot |
| title_fullStr | The development of localisation capabilities and control for a low-cost robot |
| title_full_unstemmed | The development of localisation capabilities and control for a low-cost robot |
| title_short | The development of localisation capabilities and control for a low-cost robot |
| title_sort | development of localisation capabilities and control for a low cost robot |
| topic | Mechanical Engineering |
| url | http://hdl.handle.net/11427/5504 |
| work_keys_str_mv | AT mcwilliamskate thedevelopmentoflocalisationcapabilitiesandcontrolforalowcostrobot AT mcwilliamskate developmentoflocalisationcapabilitiesandcontrolforalowcostrobot |