2026-09-18T23:43:40Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/179782022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Leslie P. Kaelbling.
Roth, Daniel R. (Daniel Risner), 1979-
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2005-06-02T19:29:17Z
2005-06-02T19:29:17Z
2004
2004
http://hdl.handle.net/1721.1/17978
57188021
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004.
Includes bibliographical references (p. 53-54).
In this thesis we propose a vision-based robot navigation system that constructs a high level topological representation of the world. A robot using this system learns to recognize rooms and spaces by building a hidden Markov model of the environment. Motion planning is performed by doing bidirectional heuristic search with a discrete set of actions that account for the robot's nonholonomic constraints. The intent of this project is to create a system that allows a robot to be able to explore and to navigate in a wide variety of environments in a way that facilitates goal-oriented tasks.
by Daniel R. Roth.
M.Eng.
54 p.
2323330 bytes
2327962 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.
Vision based robot navigation
Vision based robot navigation system
Thesis
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