[cosc-grad-students-list] Thesis Defense - Karthikeyan Umapathy Gunasekaran

[Carrasco, Margo]

PRESENTER: Karthikeyan Umapathy Gunasekaran

TITLE: Map Generation and Trajectory Following for an Autonomous Mobile Robot

DATE: Wednesday, April 18, 2018

TIME: 10 am  - 11 am.

LOCATION : CI 228

ABSTRACT:
The approaches of building an autonomous system date back to the classical era, but until the 20th century, there was no significant growth in its performance and usability. With the advent of the intelligent autonomous system, robots and robotics had moved from science fictions movies and books into our everyday life. Systematically obtaining spatial information in an indoor environment and planning its motion in minimum cost is a challenge. In this thesis, we propose a complete framework for an autonomous mobile robot to move from the point of interest to a target point. This framework encompasses an innovative methodology to build a two-dimensional binary occupancy grid map of an unknown static environment using a single laser sensor. The prominent metaheuristic algorithm - the Genetic algorithm is used, for path planning from the point of interest to target point based on the map generated. The planned path is translated into trajectory plan, for the robot reach the target point.



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