Wall Following with Collision Avoidance and Mapping Using a Laser Range Finder
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In this project, various approaches were analyzed as possible approaches towards wall following and mapping with implementations of select approaches designed in MDLe for the Activ Media robots provided. The laser rangefinder was utilized extensively for mapping and odometry and the indoor cricket system were used for localization. The robot has come to demonstrate good wall following ability in rather unpredictable circumstances, but the quality of the mapping can be irregular due to the poor quality of the odometry.
This report is the final project of students in ISR's 2008 Research Experiences for Undergraduates program.