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Autonomous space exploration using the Turtlebot mobile platform

Luka Saprunov (2016) Autonomous space exploration using the Turtlebot mobile platform. EngD thesis.

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    The purpose of this undergraduate thesis is to implement the autonomous exploration of space on the Turtlebot mobile platform that uses the ROS development environment. We implemented an exploration algorithm based on the detection and use of frontier regions as potential exploration goals. Since the algorithm is able to choose an exploration goal based on the combination of different assessments, we tested and compared which combination of goal assessments enables the most efficient exploration of a given space. We assessed and compared different strategies of goal setting on the basis of four criteria and a referential strategy which selects its exploration goals randomly. In order to get the data necessary for comparison, we conducted ten successful explorations per strategy and compared them on the basis of the referential strategy and criteria. We implemented our own module, which tracks the amount of space explored and the time spent for exploration, while also documenting the path traveled by the Turtlebot during exploration.

    Item Type: Thesis (EngD thesis)
    Keywords: autonomous, space exploration, strategy, goal selection, ROS, robot, Turtlebot, frontiers
    Number of Pages: 76
    Language of Content: Slovenian
    Mentor / Comentors:
    Name and SurnameIDFunction
    izr. prof. dr. Danijel Skočaj296Mentor
    Link to COBISS: http://www.cobiss.si/scripts/cobiss?command=search&base=51012&select=(ID=1536873411)
    Institution: University of Ljubljana
    Department: Faculty of Computer and Information Science
    Item ID: 3307
    Date Deposited: 25 Mar 2016 12:32
    Last Modified: 19 Apr 2016 08:36
    URI: http://eprints.fri.uni-lj.si/id/eprint/3307

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