2026-09-19T10:33:35Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/544762022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Franz S. Hover.
Hui, Corinna
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2010-04-28T15:38:00Z
2010-04-28T15:38:00Z
2009
2009
http://hdl.handle.net/1721.1/54476
556229702
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 48).
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..
by Corinna Hui.
S.B.
48 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Laser Range Finder Mapping of Floating Vehicle
Thesis
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