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Binary Directional Marker Placement for Mobile Robot Localization

This thesis looks at the problem of optimally placing binary directional proximity markers to assist a robot as it navigates waypoints through an environment. A simple planar fiducial marker is developed to serve as the binary directional proximity marker. A scoring function is proposed for marker placement as well as a method for random generation of hallway maps. Several common metaheuristic algorithms are run to find optimal marker placements with respect to the scoring function for a number of randomly generated hallway maps. From these results, placements are then evaluated by physical experimentation on an iRobot Create equipped with relatively inexpensive webcams. / Graduate

Identiferoai:union.ndltd.org:uvic.ca/oai:dspace.library.uvic.ca:1828/5623
Date28 August 2014
CreatorsAllen, River
ContributorsWhitesides, Sue H., Cheng, Mantis Hoi Ming
Source SetsUniversity of Victoria
LanguageEnglish, English
Detected LanguageEnglish
TypeThesis
RightsAvailable to the World Wide Web, http://creativecommons.org/licenses/by/2.5/ca/

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