Laser Range Finder Mapping of Floating Vehicle
Name
556229702-MIT.pdf
Description
Full printable version
Size
5.71 MB
Format
Adobe PDF
Checksum (MD5)
a4927c75c79e0e745f17c6d92c7f1bfc
Author(s)
Hui, Corinna
Advisor(s)
Franz S. Hover.
Date Issued
2009
Publisher
Massachusetts Institute of Technology
Abstract
Using laser range finders as a method of navigation is popular with mobile land robots; however, there has been little research using it with water vehicles. Therefore, this thesis explores the usage and data flow of a laser range finder on a water raft. A unique algorithm for localization and mapping for the sensor is developed and tested both in simulation and in realtime with a vehicle. Both the localization of the vehicle and mapping of its environment are able to achieve precise locations, deviating only a few millimeters of their expected values. With this algorithm, a closed-loop control system is also developed and implemented on the vehicle. The vehicle is able to move to a predefined location and be within a very small range of acceptable values. The control loop is further explored with damping, gain variations, and different trajectories..
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 48).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
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