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dc.contributor.advisorJohn Leonard.en_US
dc.contributor.authorMoore, Justin Cen_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.date.accessioned2008-02-27T22:27:03Z
dc.date.available2008-02-27T22:27:03Z
dc.date.copyright2007en_US
dc.date.issued2007en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/40449
dc.descriptionThesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.en_US
dc.descriptionIncludes bibliographical references (leaf 10).en_US
dc.description.abstractThe goal of this work is to develop a method for robotic navigation of smooth contours depending on the current and desired locations and orientations. Efficient trajectory generation is an essential capability for many autonomous mobile robots, operating in a variety of situations such as military, medical, and home environments. In this thesis, we propose a method that is based on fitting a spline curve that passes from the initial position and orientation of the robot to a goal position and orientation. The spline is continually recomputed as the robot moves through space. This yields a simple and inefficient method for robot navigation. The method has been implemented and tested in simulation using Matlab and good performance has been demonstrated. Future work should perform experiments with this method on a real robot and should introduce obstacle detection and avoidance.en_US
dc.description.statementofresponsibilityby Justin C. Moore.en_US
dc.format.extent10 leavesen_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.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.urihttp://dspace.mit.edu/handle/1721.1/7582
dc.subjectMechanical Engineering.en_US
dc.titleRobotic navigation of smooth contoursen_US
dc.typeThesisen_US
dc.description.degreeS.B.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.identifier.oclc191730995en_US


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