Mobile robots are used for a wide range of purposes such as
mapping an environment and transporting material goods. Regardless
of the specific application, the navigation of the mobile robot is
usually divided into three separate parts: localization, path
planning and path execution. Localization is the process of
determining the location of the robot with respect to a reference
coordinate system. There are many different approaches to
localizing a mobile robot which employ a wide variety of sensors.
The objective of my research is to develop a method for the
localization of multiple mobile robots equipped with inexpensive
range sensors in an indoor environment. Each mobile robot will be
equipped with a rotating infrared sensor and a rotating CMOS
camera. The multiple mobile robot system will be treated as a
linked robot for localization.
The proposed localization method is verified via both simulation
and experiment. Through the use of the virtual link length and
relative heading information, a system of mobile robots can be
effectively localized using detected environmental features.
| Identifer | oai:union.ndltd.org:tamu.edu/oai:repository.tamu.edu:1969.1/1175 |
| Date | 15 November 2004 |
| Creators | Rynn, Andrew John |
| Contributors | Lee, Sooyong |
| Publisher | Texas A&M University |
| Source Sets | Texas A and M University |
| Language | en_US |
| Detected Language | English |
| Type | Book, Thesis, Electronic Thesis, text |
| Format | 501895 bytes, 64525 bytes, electronic, application/pdf, text/plain, born digital |
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