SAKA-THESIS-2021.pdf (8.14 MB)
Download file

Real-time Autonomous Robot Navigation System with Collision Avoidance for NAO Robot

Download (8.14 MB)
thesis
posted on 01.08.2021, 00:00 by Oluwadamilola I Saka
This thesis describes the development and performance of a full-stack autonomous navigation system. It integrates image and depth-based environmental perception, path planning, and walking control of the NAO humanoid robot for navigation in unknown terrains. The perception module detects walkable surfaces from the camera image and time-to-collide with obstacles from the point cloud data. The path to move from the current position to the destination is solved using a search algorithm. The robot moves along the defined path by the walking controller module. This navigation system is tested on the NAO robot in simulation, and performance results are presented.

History

Advisor

Kim, Myunghee

Chair

Kim, Myunghee

Department

Mechanical and Industrial Engineering

Degree Grantor

University of Illinois at Chicago

Degree Level

Masters

Degree name

MS, Master of Science

Committee Member

Žefran, Miloš Bhounsule, Pranav Jeong, Heejin

Submitted date

August 2021

Thesis type

application/pdf

Language

en

Usage metrics

Categories

Exports