Vision based robot navigation
Name
57188021-MIT.pdf
Description
Full printable version
Size
3.59 MB
Format
Adobe PDF
Checksum (MD5)
2afcf623feef48d747de79e2120486b9
Author(s)
Roth, Daniel R. (Daniel Risner), 1979-
Advisor(s)
Leslie P. Kaelbling.
Alternative Title
Vision based robot navigation system
Date Issued
2004
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis we propose a vision-based robot navigation system that constructs a high level topological representation of the world. A robot using this system learns to recognize rooms and spaces by building a hidden Markov model of the environment. Motion planning is performed by doing bidirectional heuristic search with a discrete set of actions that account for the robot's nonholonomic constraints. The intent of this project is to create a system that allows a robot to be able to explore and to navigate in a wide variety of environments in a way that facilitates goal-oriented tasks.
Description
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004.
Includes bibliographical references (p. 53-54).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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