Autonomous navigation of the volcano observation robot

Abstract

The purpose of this thesis was to design a method of autonomous navigation to the transportation net of the volcano observation robot CLOVER. In the beginning, it describes how the robot operates, then it is described how two old robots were merged together to recreate the CLOVER robot based on Raspberry Pi a ROS frameworks. Next, various methods of autonomous navigation are discussed to determine which one is optimal for the CLOVER robot in terms of reliability, weight and price of the required hardware. The chosen method uses infrared beacon suspended from the top of the transportation net and infrared receiver mounted on the robot. Finally, there is a description of the implementation of the navigation procedure.