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Published on 2 Jan 2009
The robot is placed at a random location in the environment. It performs a random walk to self-localise and attempts to go to a user defined goal point. A Hokuyo URG laser was mounted on the bottom of the robot and used for collision avoidance. But for some reason didn't pick up the bicycle, luckily it just narrowly missed it! Path planning was done using the Distance Transform (Wavefront propagation) algorithm