| dc.contributor.advisor | John J. Leonard. | en_US |
| dc.contributor.author | Leedekerken, Jacques Chadwick | en_US |
| dc.contributor.other | Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. | en_US |
| dc.date.accessioned | 2006-07-13T15:13:10Z | |
| dc.date.available | 2006-07-13T15:13:10Z | |
| dc.date.copyright | 2005 | en_US |
| dc.date.issued | 2005 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1721.1/33294 | |
| dc.description | Thesis (M. Eng. and S.B.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2005. | en_US |
| dc.description | Includes bibliographical references (leaves 59-60). | en_US |
| dc.description.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. | en_US |
| dc.description.statementofresponsibility | by Jacques Chadwick Leedekerken. | en_US |
| dc.format.extent | 60 leaves | en_US |
| dc.format.extent | 2143171 bytes | |
| dc.format.extent | 2144817 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.format.mimetype | application/pdf | |
| 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 | http://dspace.mit.edu/handle/1721.1/7582 | |
| dc.subject | Electrical Engineering and Computer Science. | en_US |
| dc.title | Feature-relative real-time obstacle avoidance and mapping | en_US |
| dc.type | Thesis | en_US |
| dc.description.degree | M.Eng.and S.B. | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science | |
| dc.identifier.oclc | 62278622 | en_US |
