Title	Guidance and navigation of autonomous robotics
Authors	Cui, Binghui Kong, Qingyi Lee, Chia-Hang
Advisors	Hsu, Li-Ta
Degree	Undergraduate
Issue Date	2018
Absctract	This project aims to accomplish indoor unmanned drive with KUKA as moving platform and Lidar as 3D sensor. Autoware is utilized as software platform while Rviz is implemented as simulation tool during the whole project. Autonomous movement requires the robot itself to do path planning, collision avoidance, guidance and navigation, which are the main objective functions to develop in this project. To be specific, the whole project can be divided into four parts which are: 1. Localization 2. Path finding and clustering 3. Path tracking and autonomous control 4. Integration Therefore, first we will introduce the motivation, commercial applications as well as specific objectives and missions. Then literature review and background information of each separate part will be provided, followed by technical content, which contains specific process, details and codes. Some experiments have been designed and conducted to test the operability as well as the accuracy. In the end, conclusion will be given together with discussion and further development.
Subjects	Autonomous robots Motor vehicles -- Automatic control. Intelligent control systems
Publisher	Hong Kong Polytechnic University
Rights	All rights reserved.