Self-navigating robot using on-board sensors (I)

Abstract

Students in the School of Electrical and Electronic Engineering in NTU are required to complete one Final-Year Project (FYP) before they are eligible to graduate from the school. Depending on the nature of the project, students will be able to experience and deepen their experiences and technical knowledge on various aspects of EEE specializations.

The author chose to work on a project under Prof. Xie Lihua on unmanned ground vehicles. The author will be working together with another student to design and implement a robot that will self-navigate itself to a given point or destination with the use of onboard sensors. Unmanned Ground Vehicles (UGVs) are becoming a significant part of the world for both military and civilian purposes. In this report, the author will first review past and present techniques of UGV navigation. After which, the report will proceed to presenting details about the components and software used to realize sensing as well as navigation sections of the project. All testing and evaluations were conducted in the Sensor Network Lab, S1-B4c-16.