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Autonomous navigation #1 using a vision based localisation system

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Uploaded 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. Path planning was done using the Distance Transform (Wavefront propagation) algorithm

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