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.
The ROS framework
Modeling and simulation
The Navigation Task: Algorithms
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.
The robot is fitted with a camera that will be used for video documentation,
capturing details about features in each part of the duct network.
Set up landmarks at strategic points in the tunnel to help alleviate
the problem of localization error accumulation.