robolab @ unipv

Autonomous Navigation of a Wheeled Mobile Robot in Ventilation Ducts

Moses Koledoye


The aim of this Master’s thesis is to develop a suitable algorithm for the autonomous navigation of a 4-wheeled
mobile robot tasked with the exhaustive exploration of a network of ventilation ducts. Following the development
of the algorithm, there must be a corresponding implementation in C++/Python code that will satisfy the timing
and resource constraints of the underlying operating system – ROS.


This thesis was aimed at addressing the problem of driving a robot autonomously
through a network of ventilation ducts for complete exploration.
The sole objective was to develop an algorithm that could help achieve this
and provide a corresponding implementation in C++ code.
Two approaches were presented in this writing as the outcomes of this
undertaking: the Map Centroid and Map Edge approaches.

Future Work