Division of Information Technology, Engineering and the Environment
School of Advanced Manufacturing and Mechanical Engineering
School of Advanced Manufacturing and Mechanical Engineering
Thesis Abstract
The idea of placing small mobile robots to move around in a large building for potential intruders detection has been aroused for some time. However it is still facing two major hurdles; which are to not lose its ground truth as well as to make decision on how to move around in the building safely and effectively within reasonable computation cost. This paper describes a mathematical model for the development of a scheme for autonomous low cost mobile robot using visual SLAM (simultaneous localisation and mapping) and a combination of Wedge Bug Algorithm and Particle Swarm Intelligent path planner. The result proved that this system provides solutions for the problem in indoor mobile robot navigation. The advancements of the computer technology make this technique as a cost effective solution for a future home service robot.
