Robotics Landmark Navigation
Using Image and Sonar Processing

Andrea Fey
April 2006
Advisor: Dr. Rebecca Bruce

Abstract

PyroRobotics is a Python-based robotics programming API which can be used in conjunction with several physical robots, such as Pioneers, Aibos, and Hemissons. It can also be used in conjunction with a robotics simulation, such as Player/Stage, Gazebo, RoboCup, or the Pyro-developed Pyrobot simulator. The API consists of modules written in Python.

The goal of this project was to explore robotics programming. Initial steps included: installation of Linux, learning Python, and exploration of the Pyro API. During exploration of the Pyrobot simulator, a particular problem was noted with the default navigation technique known as dead reckoning. Dead reckoning degrades quickly and offers little guarantee of world position. This program improves upon this algorithm by estimating true position using landmark navigation and vision processing. I then used these navigation techniques to map obstacles in the environment.