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Kenneth Houston. Huang, Edward Y. C., 1981- Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science 2005-05-19T15:28:19Z 2005-05-19T15:28:19Z 2003 2003 http://hdl.handle.net/1721.1/16965 53448797 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. 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. by Edward Y.C. Huang. M.Eng. 74 p. 450589 bytes 450330 bytes application/pdf application/pdf eng Massachusetts Institute of Technology 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. http://dspace.mit.edu/handle/1721.1/7582 Electrical Engineering and Computer Science. A semi-autonomous vision-based navigation system for a mobile robotic vehicle Thesis application/pdf Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="dd4f99a2-dde3-4bd6-8061-2b57f01f48eb"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>A semi-autonomous vision-based navigation system for a mobile robotic vehicle</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2003</PublicationDate> <Authors> <Author> <DisplayName>Huang, Edward Y. C., 1981-</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Electrical Engineering and Computer Science.</Keyword> <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.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>