Finding Dimensions of a Closed Region

Abstract of project:

In this project, an attempt is made to get dimensions of enclosed areas inaccessible to human beings. I have used a simple behavior based mobile robot which moves around the area autonomously, and collects data such as approximate height at different points and approximate length of different sides of the enclosure. The approximate average height and the approximate perimeter are calculated from the collected data. The robot used in this implementation does not have any high sensitive sensors. The movement of the robot is based on three basic behaviors: obstacle-avoidance, wall-following and wall-seeking.

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