Indoor navigation multi storey strategies for autonomous mixed swarm robot drone (MSRD)
This project studies, designs, builds, and demonstrates mixed swarmed robot-drone (MSRD) ingress egress strategies and algorithms for navigating in-between unknown multi-storey spaces with object detection technique and navigation stack. Robot-drone term refers to a formation of grounded based ro...
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| Other Authors: | |
| Format: | Final Year Project (FYP) |
| Language: | English |
| Published: |
Nanyang Technological University
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/167588 |
| _version_ | 1811679666363170816 |
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| author | Kew, Shen Yu |
| author2 | Li King Ho Holden |
| author_facet | Li King Ho Holden Kew, Shen Yu |
| author_sort | Kew, Shen Yu |
| collection | NTU |
| description | This project studies, designs, builds, and demonstrates mixed swarmed robot-drone
(MSRD) ingress egress strategies and algorithms for navigating in-between unknown multi-storey spaces with object detection technique and navigation stack. Robot-drone term refers
to a formation of grounded based robot and aerial robot in a team. The potential of indoor
aerial robots such as drones is especially important for applications within large industrial
sites, hangars, warehouses, and production lines. Besides drones, it is also possible to have
grounded robots in a team to overcome different kinds of challenges in travelling in an
unknown indoor environment. In this project, there were 10 runs of robot-drone ingress egress
test in simulation world and 10 runs of stairs travelling with drone in simulation world to
demonstrate the feasibility of the software and algorithm to perform navigation in multi-storey
building. After that, the performance of the software and algorithm were evaluated through 30
runs of experiment in real-world ingress egress test in an unknown indoor environment for
two different types of grounded based wheel robots each. The robot types included differential
drive robot and Ackermann drive robot. The overall result of the real-world ingress egress test
shows 71.67% success rate while experiment conducted in simulation world has 80% success
rate in ingress egress test and 50% success rate in stairs travelling test. This result shows the
proof of concepts of the algorithm and has shown potential to be implemented in various real-life applications. |
| first_indexed | 2024-10-01T03:12:47Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/167588 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:12:47Z |
| publishDate | 2023 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1675882023-06-03T16:50:59Z Indoor navigation multi storey strategies for autonomous mixed swarm robot drone (MSRD) Kew, Shen Yu Li King Ho Holden School of Mechanical and Aerospace Engineering HoldenLi@ntu.edu.sg Engineering::Mechanical engineering This project studies, designs, builds, and demonstrates mixed swarmed robot-drone (MSRD) ingress egress strategies and algorithms for navigating in-between unknown multi-storey spaces with object detection technique and navigation stack. Robot-drone term refers to a formation of grounded based robot and aerial robot in a team. The potential of indoor aerial robots such as drones is especially important for applications within large industrial sites, hangars, warehouses, and production lines. Besides drones, it is also possible to have grounded robots in a team to overcome different kinds of challenges in travelling in an unknown indoor environment. In this project, there were 10 runs of robot-drone ingress egress test in simulation world and 10 runs of stairs travelling with drone in simulation world to demonstrate the feasibility of the software and algorithm to perform navigation in multi-storey building. After that, the performance of the software and algorithm were evaluated through 30 runs of experiment in real-world ingress egress test in an unknown indoor environment for two different types of grounded based wheel robots each. The robot types included differential drive robot and Ackermann drive robot. The overall result of the real-world ingress egress test shows 71.67% success rate while experiment conducted in simulation world has 80% success rate in ingress egress test and 50% success rate in stairs travelling test. This result shows the proof of concepts of the algorithm and has shown potential to be implemented in various real-life applications. Bachelor of Engineering (Mechanical Engineering) 2023-05-31T01:38:22Z 2023-05-31T01:38:22Z 2023 Final Year Project (FYP) Kew, S. Y. (2023). Indoor navigation multi storey strategies for autonomous mixed swarm robot drone (MSRD). Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/167588 https://hdl.handle.net/10356/167588 en C169 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Mechanical engineering Kew, Shen Yu Indoor navigation multi storey strategies for autonomous mixed swarm robot drone (MSRD) |
| title | Indoor navigation multi storey strategies for autonomous mixed swarm robot drone (MSRD) |
| title_full | Indoor navigation multi storey strategies for autonomous mixed swarm robot drone (MSRD) |
| title_fullStr | Indoor navigation multi storey strategies for autonomous mixed swarm robot drone (MSRD) |
| title_full_unstemmed | Indoor navigation multi storey strategies for autonomous mixed swarm robot drone (MSRD) |
| title_short | Indoor navigation multi storey strategies for autonomous mixed swarm robot drone (MSRD) |
| title_sort | indoor navigation multi storey strategies for autonomous mixed swarm robot drone msrd |
| topic | Engineering::Mechanical engineering |
| url | https://hdl.handle.net/10356/167588 |
| work_keys_str_mv | AT kewshenyu indoornavigationmultistoreystrategiesforautonomousmixedswarmrobotdronemsrd |