| dc.contributor.advisor | Leslie Kaelbling. | en_US |
| dc.contributor.author | Eng, Donald S | en_US |
| dc.contributor.other | Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. | en_US |
| dc.date.accessioned | 2011-02-23T14:22:07Z | |
| dc.date.available | 2011-02-23T14:22:07Z | |
| dc.date.copyright | 2010 | en_US |
| dc.date.issued | 2010 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1721.1/61159 | |
| dc.description | Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010. | en_US |
| dc.description | Cataloged from PDF version of thesis. | en_US |
| dc.description | Includes bibliographical references (p. 62). | en_US |
| dc.description.abstract | The holonomic robot platform designed for the Opera of the Future must perform continuously on stage in a 10 meter by 20 meter world for one hour. The robot interacts with twelve other robots, stage elements, and human performers. Fast, accurate, and continuous state estimation for robot pose is a critical component for robots to safely perform on stage in front of a live audience. A custom robot platform was designed to use a Particle Filter to estimate state. The motor controller was developed to control robot vectoring and report odometry, and noise analysis on an absolute positioning system, Ubisense, was performed to characterize the system. High frequency noise confounds the Ubisense measurement of 0, but the Particle Filter acts as a low pass filter on the absolute positions and mixes the high frequency components of the odometry to determine an accurate estimate of the robot pose. | en_US |
| dc.description.statementofresponsibility | by Donald S. Eng. | en_US |
| dc.format.extent | 106 p. | en_US |
| dc.language.iso | eng | en_US |
| dc.publisher | Massachusetts Institute of Technology | en_US |
| dc.rights | M.I.T. theses are protected by
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission. | en_US |
| dc.rights.uri | http://dspace.mit.edu/handle/1721.1/7582 | en_US |
| dc.subject | Electrical Engineering and Computer Science. | en_US |
| dc.title | State estimation for a holonomic omniwheel robot using a particle filter | en_US |
| dc.title.alternative | Path planning for a multiagent system | en_US |
| dc.type | Thesis | en_US |
| dc.description.degree | M.Eng. | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science | |
| dc.identifier.oclc | 698249625 | en_US |
