Fachbereich Informatik

Bachelor Thesis

Pioneer Robot "Follow-Right-Wall Algorithm Based on Behaviours (According to Rodney A. Brooks)"

by Sascha Jockel

This bachelor thesis adresses the design and implementation of an exploration algorithm by following a righthanded wall. This is done by "reactive planning" according to Brooks subsumption architecture. The advantage of such system is that the model of the world is not given preliminary rather it is modeled by sensing. The control system is build of competitive modules each want to establish his respective atomic task.

Hamburg, Germany, July 2002


Portable Document Format (PDF) bachelor-thesis.pdf (0.4 MB)