A semi-autonomous vision-based navigation system for a mobile robotic vehicle
Name
53448797-MIT.pdf
Description
Full printable version
Size
439.78 KB
Format
Adobe PDF
Checksum (MD5)
e3a095f3eecead4540fdbd1988825e1c
Author(s)
Huang, Edward Y. C., 1981-
Advisor(s)
Kenneth Houston.
Date Issued
2003
Publisher
Massachusetts Institute of Technology
Abstract
Direct teleoperation of a mobile vehicle over a communications channel with delay on the order of one second is problematic for precise maneuvering and obstacle avoidance. To curb both operator vigilance and maneuvering mishaps during vehicle teleoperation, this thesis aims to develop a semi-autonomous vision-based navigation system for a small mobile robotic vehicle designed by Draper Laboratory. The system relies on monocular vision processing to employ an optical flow balance strategy for real-time obstacle avoidance. The system utilizes a multimedia processor for video processing and is implemented within a payload module built for a visual servoing task. The system design relies on a flexible communication protocol to integrate with the robot and operator control unit. Overall, the system is a useful augmentation for a flexible robotic platform for enabling better reconnaissance.
Description
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003.
Includes bibliographical references (p. 73-74).
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
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.
Persistent DSpace Link
