Feature-relative real-time obstacle avoidance and mapping
Name
62278622-MIT.pdf
Description
Full printable version
Size
2.7 MB
Format
Adobe PDF
Checksum (MD5)
ba37abdc1c51bd1412700556d880b14c
Author(s)
Leedekerken, Jacques Chadwick
Advisor(s)
John J. Leonard.
Date Issued
2005
Publisher
Massachusetts Institute of Technology
Abstract
A substantial challenge in robotics is integration of complex software systems for real- time performance. This thesis integrates the robust and generic mapping framework Atlas, a feature-based local Simultaneous Localization and Mapping (SLAM) module, and obstacle avoidance using information from mapped features. The resulting system performs autonomous feature-relative Real-time Obstacle Avoidance and Mapping (ROAM) with laser or sonar range sensors, and results are shown for wide-beam sonar. This system will allow high-speed feature-relative obstacle and avoidance and navigation on mobile robots with wide-beam sonar and/or laser sensors.
Description
Thesis (M. Eng. and S.B.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2005.
Includes bibliographical references (leaves 59-60).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
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