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
| Identifer | oai:union.ndltd.org:uvic.ca/oai:dspace.library.uvic.ca:1828/5623 |
| Date | 28 August 2014 |
| Creators | Allen, River |
| Contributors | Whitesides, Sue H., Cheng, Mantis Hoi Ming |
| Source Sets | University of Victoria |
| Language | English, English |
| Detected Language | English |
| Type | Thesis |
| Rights | Available to the World Wide Web, http://creativecommons.org/licenses/by/2.5/ca/ |
Page generated in 0.0019 seconds