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Development of a robot localization and environment mapping system

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dc.contributor.advisor Kamal Youcef-Toumi. en_US Panas, Cynthia Dawn Walker en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US 2012-10-10T15:47:01Z 2012-10-10T15:47:01Z 2012 en_US 2012 en_US
dc.description Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012. en_US
dc.description Cataloged from PDF version of thesis. en_US
dc.description Includes bibliographical references (p. 147-151). en_US
dc.description.abstract The intent of this research is to develop a robust, efficient, self-contained localization module for use in a robotic liquefied petroleum gas (LPG) tank inspection system. Inspecting large LPG tanks for defects is difficult, expensive and energy intensive. Replacing the human inspectors with a robotic inspection system will make the inspection process faster, less expensive, more reliable and safer. The sensing platform designed in this work can collect data about the environment and track the robotic inspection platform, recording the defect locations. It consists of a two axis gimbaled sensing platform with a single point distance sensor placed in the manhole of the tank. A collection of algorithms were developed to use in conjunction with the sensing platform to collect and process the 3D data into a map of the environment. The algorithm's main feature is a robust and efficient method of segmenting and fitting data to a right capped cylinder that is faster and more robust to noise than current methods. The improved performance comes from a unique combination of object shape knowledge, the Gauss image and 3D histogram techniques which achieve accurate segmentation without iteration. The hardware and software were demonstrated to function robustly in a noisy environment. The unique ability of the system to work in an LPG tank allows it to be integrated into a robotic inspection system that can remove the majority of the cost and risk associated with LPG tank inspection. en_US
dc.description.statementofresponsibility by Cynthia Dawn Walker Panas. en_US
dc.format.extent 151 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 en_US
dc.subject Mechanical Engineering. en_US
dc.title Development of a robot localization and environment mapping system en_US
dc.type Thesis en_US S.M. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.identifier.oclc 811142211 en_US

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